A dwelling place below
Based on a teaching of Chazal, the Tanya explains that the purpose of creation is that Hashem desired a 'dwelling place in the lower realms'. Not the heavens, but this physical, often dark world is where His presence is meant to be revealed. Each mitzvah performed with physical objects turns a piece of the material world into a home for G-dliness, preparing for the era of Moshiach when this light will be openly revealed.
Source: Tanya, Likkutei Amarim ch. 36
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