The Ingenuity helicopter that has flown on Mars is designed for roughly 0.01 bar pressure and a colder atmosphere made of mostly CO2. See links (including video) in this answer to What JPL laboratory is this exactly, and what are the functions of these amazing-looking control panels? in Space SE and sources linked within. For more about Mars' atmosphere see this answer to What could Perseverance listening to Ingenuity reveal? there as well, and sources within.
The counter-propagating rotors (driven by separate motors but synchronized) spin at about 2500 RMP. The propellors are huge by Earth standards compared to the tiny weight that they carry. But we also have to remember that it will weigh more on Earth. See answers to Does Ingenuity rotate via differential rotor speeds or differential angles of attack? and sources within for more on that.
Question: Hypothetically, could the Mars helicopter Ingenuity have been test-flown outdoors at JPL just for the heck of it? Not that they would ever do such a thing (it will have been kept very clean and very very safe at all times) but from a technical stand point would it have flown? What rotor speeds and torques would have been necessary, and would these have been possible with the light-weight motors optimized for Mars flight?