Your second paragraph is spot-on. Your first however is caca. Not only are the poor's basic needs met with no exertion from themselves, they even have a surplus which can be invested in drugs. With no real demands on their time and energy, the poor mostly do nothing uplifting or constructive. Moonbeam makes a point about their inability to believe in their ability to do anything uplifting or constructive, but people who value themselves to the point of demanding that others provide for all their wishes still typically do little beyond demanding even more free stuff. Robots would not likely change that. At most, they would be trying to program the robots to make more drugs.
The first two paragraphs of that are pretty profound.
That's a good point too. Problem is, most things that can be invented also require a lot of work which isn't interesting at all. You'd probably find 10,000 Americans who would love to design the next iPad even without a profit motive, but none at all who want to spend the next year of their life formulating and testing different plastics for the case. Same thing in other areas; lot of people would like to design a drug that makes people's lives better, but who wants to spend their lives feeding, cleaning up after, and dissecting rats? Everything worth doing, or nearly, has significant parts which no one would choose to do if they didn't need the money.