In the version of this Article initially published, there were processing errors in the Supplementary and Extended Data. Specifically, for Supplementary Video 2, the file was damaged and would not render. For Extended Data Fig. 2, the “x–z, y–z, x–y” labels in the lower left of each panel were divergent to the format of similar panels in main text Fig. 2. The changes have been corrected in the online version of the Article.