I dispute that there CAN be such a world. There will ALWAYS be scarcity of something. What will change is what that "something" is.
By the standards of 2000 years ago, we have the ability to give everybody all the wheat they want. But people today now want iPads, 4K HDTV, Lexus cars, etc, etc. As our ability to produce has increased, our ability to WANT has also kept pace.
There are very finite limits on the amount of prime beachfront property that is not subject to technological advances. Likewise other kinds of prime land. There are limits to how much available energy there is (without frying the Earth in waste heat), etc.
In an immensely wealthy world, do you seriously contend such people should be allowed to starve simply because they arent needed any more by the productive economy? Is this in any way their fault?
Please note that I never said anything about letting them starve, just not giving them an incentive to have 10 kids.