Polistes dominula
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Nests under balconies, shutters and pergolas, so encounters are common. It does not sting unless the nest is approached, but several will attack if it is touched. The sting is as painful as a common wasp's.
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Antennae orange-yellow, entirely black in Vespula wasps
Long hind legs dangle below the body in flight
Open single-layer paper comb hanging from a thin stalk, with no envelope