R: Topology Exception Error

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I'm trying to do the gDifference between two polygons, but I was getting an error:

Error in RGEOSBinTopoFunc(spgeom1, spgeom2, byid, id, drop_not_poly, "rgeos_intersection") : TopologyException: Input geom 0 is invalid: Self-intersection at or near point. So I did this:

polygone1