Based on Chapter 16, what was the primary reason for Sai Baba, the King of Yogis, to take a physical body?

Chapter 16 explicitly states the selfless motive behind Sai Baba's incarnation. After praising him as the Stainless (Niranjana), the Imperishable (Avyaya), and the King of Yogis, the text declares, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights his immense compassion. The chapter further elaborates that he dons a "cloak of ignorance" to impart knowledge to the ignorant, reinforcing that his entire purpose in a physical form was the spiritual and material upliftment of all who came to him, especially the most vulnerable.