To fix this, you'll need to install gawk(sudo apt install gawk) on your system.
juicer.sh -t 20 -s MboI -g hap0 -d /home/data/t090519/JF/20.Jui/juicer/work -D /home/data/t090519/JF/20.Jui/juicer -z /home/data/t090519/JF/20.Jui/juicer/references/hap0.fa -p /home/data/t090519/JF/20.Jui/juicer/hap0_MboI.chrom.sizes -y /home/data/t090519/JF/20.Jui/juicer/hap0_MboI.txt