Yes, it is a wasp. The hind foot is all the same width. After the brown femur comes the black tibia, followed by the black basitarsus (the first segment of the foot). In bees the basitarsus is wider than the rest of the foot. Have a look for spider wasps.
Wing venation inconsistent with any Pompilidae that I can see but it appears to be almost identical to Aulacidae - Pristaulacus sp shown in The Insects of Australia P942.