Your path to do.pl is insecure: it depends on the current working directory. Try

#!/usr/bin/perl -T

use warnings;
use strict;
use Safe;

my $s = new Safe 'SAFE';
$s->permit(qw( print ));
$s->share_from('main',['*STDOUT']); 
$s->rdo('/home/joost/do.pl'); # put your full path here.

if($@){ print "Error: $@"; }
else  { print "No Error.\n"; }
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