Chapter 16 describes the Sadguru as the 'King of Yogis'. What reason does the text give for such a being taking on a physical body?

The text from Chapter 16 offers a clear reason for the Sadguru's incarnation. After praising Him as the Stainless, Imperishable, and One beyond attributes, the chapter explicitly states, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights the compassionate nature of the Guru. Furthermore, the chapter explains that He sometimes dons a "cloak of ignorance" in order to impart knowledge to the ignorant, providing sweet instruction without transgressing the boundaries of proper conduct, all for the spiritual benefit of His devotees.