Calling another baresip client

Asterisk Asterisk SIP
1

I have two baresip clients, baresiplocal and baresipremote that can each authenticate and connect to Asterisk server. Now, I would like for baresiplocal to call baresipremote. Here is my context for this call :`

[call_baresip]
exten => s,1,Dial(PJSIP/baresipremote)
same => n,Hangup()

I run baresip on both machines, and then run
d s on baresiplocal

Asterisk error

 -- Executing [s@call_baresip:1] Dial("PJSIP/baresiplocal-00000000", "PJSIP/baresipremote") in new stack
[Apr 25 13:03:55] ERROR[21016]: res_pjsip.c:852 ast_sip_create_dialog_uac: Endpoint 'baresipremote': Could not create dialog to invalid URI 'baresipremote'.  Is endpoint registered and reachable?
[Apr 25 13:03:55] ERROR[21016]: chan_pjsip.c:2681 request: Failed to create outgoing session to endpoint 'baresipremote'
[Apr 25 13:03:55] NOTICE[21105][C-00000001]: app_dial.c:2646 dial_exec_full: Unable to create channel of type 'PJSIP' (cause 3 - No route to destination)
  == Everyone is busy/congested at this time (1:0/0/1)
    -- Executing [s@call_baresip:2] Hangup("PJSIP/baresiplocal-00000000", "") in new stack
  == Spawn extension (call_baresip, s, 2) exited non-zero on 'PJSIP/baresiplocal-00000000'
2

Edit: I gave up on point to point call and switched to conference call, which works as all participants make outbound call to connect.