diff --git a/src/controls.ts b/src/controls.ts
index 42531d9..a47a760 100644
--- a/src/controls.ts
+++ b/src/controls.ts
@@ -32,11 +32,14 @@ export class URDFControls extends GUI {
     this.domElement.setAttribute('class', 'dg main urdf-gui');
 
     this._workspaceFolder = this.addFolder('Workspace');
-    this._workspaceFolder.domElement.setAttribute('class', 'dg workspace-folder');
-    
+    this._workspaceFolder.domElement.setAttribute(
+      'class',
+      'dg workspace-folder'
+    );
+
     this._sceneFolder = this.addFolder('Scene');
     this._sceneFolder.domElement.setAttribute('class', 'dg scene-folder');
-    
+
     this._jointsFolder = this.addFolder('Joints');
     this._jointsFolder.domElement.setAttribute('class', 'dg joints-folder');
   }
diff --git a/style/base.css b/style/base.css
index 991fbe0..78527b6 100644
--- a/style/base.css
+++ b/style/base.css
@@ -14,10 +14,9 @@
   );
   --gui-color-font: var(--jp-ui-font-color1);
   --gui-color-accent: var(--jp-brand-color0);
-  --gui-transparent: rgba(0, 0, 0, 0);
 }
 
-.jp-urdf-canvas .lm-Widget canvas {
+.jp-urdf-canvas canvas {
   width: 100%;
   height: 100%;
 }
@@ -31,17 +30,13 @@
 }
 
 .urdf-gui li.folder {
-  /* border: 0.4em solid var(--gui-transparent) !important; */
   border-left: 0.4em solid black !important;
   border-right: 0.4em solid black;
 }
 
 .urdf-gui li.title {
-  margin: 0 0 0.5em 0 !important;
-}
-
-.urdf-gui .cr.function:hover {
-  background: var(--gui-transparent) !important;
+  margin: 0 !important;
+  margin-bottom: 0.5em;
 }
 
 .urdf-gui .cr.function .property-name {
@@ -68,7 +63,11 @@
   color: var(--gui-color-font);
   border: none !important;
   text-shadow: none;
-  padding: 0.2em 0.4em 0.2em 0.4em;
+  padding: 0.2em 0.4em;
+}
+
+.urdf-gui .cr.function:hover {
+  background: var(--gui-color-background) !important;
 }
 
 .urdf-gui .cr.string input[type='text'],
@@ -100,7 +99,8 @@
 }
 
 .urdf-gui .c .slider {
-  margin: 0.5em 0 0 0;
+  margin: 0;
+  margin-top: 0.5em;
   height: 1em;
   background: var(--gui-color-background) !important;
   border: 1px solid var(--gui-color-title-bg);
@@ -117,7 +117,7 @@
   border: 1px solid var(--gui-color-font);
   border-radius: 3px;
   margin: -1px;
-  opacity: 50%;
+  opacity: 0.5;
 }
 
 .urdf-gui .joints-folder {