An accidental encounter with a paper wasp underscored the importance of mindfulness. It also brought into focus a little-known truth: Humans live and walk among an extraordinary number and diversity of wasps every day without ever getting stung by these remarkable creatures.The vast majority of wasps, like this one in the Tachytes genus, are solitary and very unlikely to sting. Most make small, inconspicuous nests in the ground.

If you’ve ever wondered what it’s like to be stung on the tongue, ...