Based on the opening verses of Chapter 16, what is the primary reason the 'King of Yogis' has taken a physical body, and what are some attributes of his divine state?

The initial verses of Chapter 16 explicitly state that the "King of Yogis," who is stainless, imperishable, and beyond attributes, has taken a physical body for a benevolent purpose: "for the sake of helping others, to uplift the poor and lowly." His divine state is described with rich symbolism. It is a realm where the six enemies like lust and anger cannot survive for even a second. In this state, he is the "umbrella-holder of the state of Self" and the "staff-bearer of the consciousness of peace." As Chapter 16 further elaborates, his power is so immense that the mere sight of his raised hand, holding the sword of Knowledge, makes the tree of worldly existence tremble in fear.