According to police, the incident took place in Shivaji Park area of the town, some 150 km from Jaipur.
"A team from the local municipality office had gone to remove encroachments from two residential colonies. A crowd of about 1,000 people gathered on the spot in protest the anti-encroachment drive," a police officer told IANS.
The protestors first shouted slogans and then attacked the officials with stones. At least six policemen sustained injuries. The crowd set two police vehicles on fire, said the officer.
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