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Firefighters found the donkey's legs were stuck in the manhole's piping, but they were able to lift the animal out of its predicament without causing any serious injuries.
Police said the donkey incurred some "flesh wounds" but was able to rejoin its petting zoo.
Police spokesman Meinrad Stoeklin said the donkey was cooperative with rescuers.
"He was very cool," Stoeklin said.
Stoeklin said police are investigating why the manhole was uncovered.