I copied all required jar libs into the hdfs finally and it worked.
hadoop fs -mkdir -p /usr/local/sqoop/server/webapps/sqoop/WEB-INF/lib/
hadoop fs -copyFromLocal /usr/local/sqoop/server/webapps/sqoop/WEB-INF/lib/*.jar /usr/local/sqoop/server/webapps/sqoop/WEB-INF/lib/