Samba de roda is the older, rural samba of the Recôncavo Baiano (Bahia), danced inside a circle (roda) of singers and clappers; UNESCO lists it as intangible heritage. It is written in cut time like the other sambas here (half = 110).
The palmas are the heart of it: everyone in the circle claps the 3+3+2 tresillo across each bar while the pandeiro keeps the samba grid, thumb on the two beats, slap on the "and", jingles on the sixteenths in between. The viola (here a guitar in the viola machete role) alternates a thumb bass on each beat with two short chops, so the strings fill exactly the gaps the claps leave.
Listen for the friction between the claps' 3+3+2 and the pandeiro's even pulse: that rub is what moves the dancer's feet in the miudinho.
Practice hint: clap the palmas while tapping the beat with your foot before playing a note.