Based on the text in Chapter 16, what is the primary reason the 'King of Yogis' has taken on a physical form?

Chapter 16 explicitly states the purpose behind the supreme Guru, or 'King of Yogis,' taking on a physical body. The text offers a victory cry to the Guru, who is described as stainless, imperishable, and beyond attributes, and then immediately clarifies that 'You have taken this body for the sake of helping others, to uplift the poor and lowly.' This highlights a core mission of compassion. The chapter further elaborates on this teaching role by stating that the Guru dons a 'cloak of ignorance' specifically to impart knowledge to the ignorant, reinforcing that the incarnation is an act of grace for the upliftment of humanity.