You can happily make calls only for the local network using SIP - this is, above all, a peer-to-peer protocol.
This is a standard part of SIP, in other words.
It seems that pjsip already supports a direct SIP URI call (as it should be!), So you don't need to configure anything. Just put the calls on sip:10.0.0.1or sip:foo.homeor whatever you want to call.
(Nitpick: there is no such thing as “without a SIP server,” because all SIP user agents act as clients and servers. I suppose you meant something like “without using SIP proxies or a similar infrastructure.”)
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