Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for designing rovers and landers for these missions currently leads to overly optimistic conclusions about the behavior of these devices upon deployment on the targeted celestial bodies. The key misconception is that gravitational offset is necessary during the terramechanics testing of rover and lander prototypes on Earth. The body of evidence supporting our argument is tied to a small number of studies conducted during parabolic flights and insights derived from newly revised scaling laws. We argue that what has prevented the community from fully diagnosing the problem at hand is the absence of effective physics-based models capable of simulating terramechanics under low gravity conditions. We developed such a physics-based simulator and utilized it to gauge the mobility of early prototypes of the Volatiles Investigating Polar Exploration Rover (VIPER). This contribution discusses the results generated by this simulator, how they correlate with physical test results from the NASA-Glenn SLOPE lab, and the fallacy of the gravitational offset in rover and lander testing. The simulator, which is open-sourced and publicly available, supports trafficability analysis and facilitates principled studies into in-situ resource utilization activities like digging, bulldozing, and berming in low gravity environments.
