According to the descriptions in Chapter 16, what was Sai Baba's purpose for taking a human body?

Chapter 16 provides a clear and compassionate reason for why Sai Baba, who is hailed as the "King of Yogis" and "One beyond attributes," took on a physical form. The text explicitly states, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights his primary mission of selfless service. The chapter further explains that He dons the "cloak of ignorance" to effectively impart knowledge to the ignorant, providing sweet instruction without overstepping boundaries. As detailed in Chapter 16, His incarnation was a profound act of grace aimed at guiding and elevating humanity, especially those who are struggling.