[https://tex.stackexchange.com/questions/55337/how-to-use-figure-inside-a-minipage](https://tex.stackexchange.com/questions/55337/how-to-use-figure-inside-a-minipage)
Figure is a floating environment and minipage is, unfortunately, not. Therefore, if you put a floating object inside a non-floating minipage, you will get an error.
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