The four terrestrial planets - Mercury, Venus, Earth, and Mars - are similar in size and structure. They orbit in the inner solar system and are too small to retain thick hydrogen atmospheres. Mercury is the smallest and hottest planet, with extensive volcanic plains and impact craters. Venus has a dense, toxic atmosphere that causes a strong greenhouse effect and maintains surface temperatures over 400°C. Mars has the largest volcano in the solar system, Olympus Mons, and polar ice caps that vary in size with the seasons.