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In Numbers 22:22, Balaam's donkey sees the angel sent by God to prevent their passage on the road. Rashi suggests that animals are allowed to see spiritual beings that are blocked from the human eye, because human intelligence would cause people to live in constant fear if they could perceive everything around them.
The quote is from Pirkei Avos 3:21 which says, "If there is no flour there is no Torah, if there is no Torah there is no flour."