Perfection includes ability to choose. Inability to choose=robots=imperfection.
The present conditions are only temporary and were allowed to develop and allowed to continue this long in order to demonstrate that Satan's implied accusations that all men will leave their creator if tempted, that his purpose for us was selfish and that Adam and Eve's implied idea that mankind can succeed without God is proven false. Once this legal precedent is established all possible rebellions can be immediately stopped via irresistible force.
The original purpose [point] for mankind was and still is to transform the Earth into a paradise.
Isaiah 65:17
[ The Glorious New Creation ] “ For behold, I create new heavens and a new earth; And the former shall not be remembered or come to mind.
Nevertheless we, according to His promise, look for new heavens and a new earth in which righteousness dwells.
2 Peter 3:12-14
We aren't doomed, [if by doomed you mean forever dead] unless we reject the Ransom Sacrifice given on our behalf by Jesus Christ.
When we die there are presently two possibilities.
1. Sleep in death until an earthly post Armageddon resurrection = most of mankind.
2. Immediate transference to heaven
Here are articles which explain God's plans for mankind and our Earth:
Making Earth A Paradise
Can You Believe in a Paradise Earth? - Jehovah's Witnesses Official Web Site