Sin is the ultimate example of "outside God's will". If Adam had never sinned, we would still be living in a perfectly created world, cohabitating peacefully with all the animals and eating fruits, plants, and seeds. Adam walked and talked with God. Jesus knew when He created Adam that He, Jesus, would have to suffer the most extremely painful death ever devised by man at the hands of His creation to build His creation a bridge back to the Being that wanted to share His existence. The Bible tells us this world was created to be inhabited, but since the fallout from the world wide flood, much of it is inhabitable. There is still great beauty but imagine it covered in greenery, in life. God still moves among us but what we have is not the original life filled world He gave us.