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Agelaia sp.
Tribe Epiponini is Neotropical, and contains some 235 species. New colonies are founded by swarms of queens and workers. Colonies may contain multiple queens.
The genus Agelaia contains 31 species that are distributed from Mexico to northern Argentina. The nests in this genus contain from 100 to 1,000,000 wasps (Hanson and Gauld, eds., 2006).
In leaf Syzygium malaccense.
I'm thinking more likely a species of Mischocyttarus given the longer first abdominal segment and the longer hind legs. There are a few similar species.
• https://vespas.ifs.ifsuldeminas.edu.br/fotos/ver/53
• https://vespas.ifs.ifsuldeminas.edu.br/fotos/ver/63