All I can say is, I remember certain elements being in the listed song and I recall it being told a certain way. There were some things put in and each element told in a particular order.
So... well, I decided to write it the way Rhysling might have sung it.
We rot in the molds of Venus,
We retch at her tainted breath.
Foul are her flooded jungles,
Crawling with unclean death.
Chorus:
We've tried each spinning space mote
And reckoned its true worth:
Take us back again to the homes of men
On the cool, green hills of Earth.
The harsh bright soil of Luna,
It shines for all to view.
Her cold and sterile craters
All lack the morning dew.
(Chorus)
Saturn's rainbow rings are precious,
A guide in the depths of space.
Her dust and rocks form colors bright,
Unique chromatic grace.
(Chorus)
In the frozen night of Titan,
We shiver in empty cold.
Her frozen shrouded cloudbanks
Hide mysteries yet untold.
(Chorus)
The arching sky is calling
Spacemen back to their trade.
All hands! Stand by! Free falling!
And the lights below us fade.
Out ride the sons of Terra,
Far drives the thundering jet,
Up leaps the race of Earthmen,
Out, far, and onward yet.
We pray for one last landing
On the globe that gave us birth;
Let us rest our eyes on fleecy skies
And the cool, green hills of Earth.
copyright Robert A Heinlein, 1947
Additional words Jacob Sommer, March 20 2001