It's complicated, but Mars, yes (mostly underground). Venus was not us. Maldek prior to Mars (this was a planet between Mars and Jupiter that was blown up and is now the asteroid belt). However, most of our "stock" comes a constellation with less gravity (that originally populated Lemuria). It's why we're so helpless when young compared to other species on Earth, and why the gravity here takes such a toll on our bodies.
Now you know!