No.  Where did you get that?

The plan of God is divine intimacy (ever greater unity) with each soul, now, and in the hereafter!

It's much much bigger than you think.

We can't get closer to Him if we reject His will for us, that is, if we distance our selves from His commandmants. 

Besides, there are all kinds of "poor people"....poor in spirit, poor in material items, poor in humility, poor in self-control, poor in knowledge, poor in courage, poor in prudence, poor in honesty, poor in willingness to sacrifice, to work, to self care, etc. 

The "seamless garment" approach reminds us that we can grow in intimacy with God by loving the person right next to us in whatever form of "poor" they happen to be in that moment.

So take the "seamless garment" approach to heart!!