Based on the opening verses of Chapter 16, what is the purpose of the Guru's incarnation and how does he interact with the ignorant?

The opening passages of Chapter 16 of the Sai Satcharitra celebrate the Guru as the "King of Yogis" and explicitly state the reason for his physical manifestation. The text proclaims, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This establishes the Guru's purpose as one of selfless service and compassion. Furthermore, Chapter 16 explains his method of teaching by stating that he sometimes dons the "cloak of ignorance" in order to impart knowledge to the ignorant. This is done to give sweet instruction without transgressing the normal boundaries of conduct, making profound wisdom accessible to all.