Based on the introduction to Chapter 16, what is the stated purpose for a being like the 'King of Yogis' to take a physical human body?

The introductory verses of Chapter 16 explain that although the Sadguru is the "Stainless (Niranjana), the Imperishable (Avyaya), the One beyond attributes (Gunatita), the King of Yogis," He has a specific reason for incarnating in a physical form. The text clearly states, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This suggests that the primary purpose of His incarnation is compassionate action. Furthermore, Chapter 16 adds that He dons a "cloak of ignorance" in order to impart knowledge to the ignorant and provide sweet instruction without transgressing proper conduct, highlighting His role as a divine teacher for humanity.