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See Houdin's www.sidefx.com/docs/houdini15.5/render/blur for more information.
To turn on motion blur, enable RenderMan RIS ROP's Properties | Motion Blur: Allow Motion Blur.
If you need to render motion blur for simulated objects (breaking, falling, bouncing, etc), you need to enable Geometry Velocity Blur on the object node. This provides the correct data for rendering motion blur in RenderMan for these objects as well as deformation blur.