It is, and it has happened. Humans are
animals, and humans have set foot on the Moon
(which isn't a planet per se, but it is a world,
and there is no reason why humans could not set
foot on any other planet). There are no planets in
the known universe save Earth that can support
animal life without protection (in this case, a
space suit). The search for other Earth-like
planets in the universe is still underway.
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