so the chofetz chayim promoted ahavas yisroel and being carefull about lashon hara. we should all be more carefull in that. yes chabad believes that hashem created the world to have a dirah bitachtonim, which we accomplish by every mitzvah we do, it will be completed when moshiach comes – see tanya perekim 36-37. actually this idea is the most in line with doing mitzvos only to fullfill the ratzon of hashem. too deep to explain. learn hemshach yom tov shel rosh hashana 5666 to understand at length (close to 1 thousend pages) or at least the first 100 pages or so to get an idea. one point, all the other reasons it says in gemara, medrash, zohar, are all reasons that are intellectual, נתאוה הקב”ה להיות לו דירה בתחתונים is only because hashem was נתאוה. there is no reason why hashem desires this. and no gain either to hashem or us. only hashem desires.
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