Pretty much all mains powered Zigbee devices also act as routers in the mesh.

An art student of mine once needed a way to electrically control precise small amounts of water. We solved that using:

  1. Water tank and gravity  
  
  2. Medical IV flow regulator¹  
  
  3. Servo hooked up to that IV flow regulator via a 3D-printed part  
  

It worked very well. In medical applications off must be really off, so it was also quite safe in that regard as well. Her 3D-printed part had a little bit too much flex in it, but in principle this works quite well. If it is really, really safety critical I would still recommend a mechanical fallback that protects in case of power loss or when the servo fails open (e.g. bending the hose with the force of a spring if electricity is gone).

¹: see https://www.gvs.com/en/catalog/iv-flow-regulators