Based on the introductory verses of Chapter 16, what is the stated purpose for the 'King of Yogis' taking on a physical form?

Chapter 16 offers a clear and compassionate reason for the Guru's incarnation. After praising him with titles like 'the Stainless,' 'the Imperishable,' and 'the King of Yogis,' the text explicitly states, 'You have taken this body for the sake of helping others, to uplift the poor and lowly.' This highlights a core purpose of selfless service. Furthermore, Chapter 16 elaborates on his teaching method by explaining that he dons the 'cloak of ignorance' in order to impart knowledge to the ignorant. This shows that his physical presence is a deliberate act of grace, intended to guide and elevate humanity by meeting them at their own level and providing sweet instruction.