Engine 10 and Truck 10 collided just before 3 p.m. at California Street and Lyon Street, in Lower Pacific Heights, Capt. Jonathan Baxter said.
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An engine typically carries hoses and equipment, while a truck carries a long, attached ladder.
The firefighters are expected to recover, the fire department said, without providing details.
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The incident will be investigated by the San Francisco Police Department's traffic unit, Baxter said.
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