Chapter 16 mentions that the Sadguru has taken a body to help others. Can you elaborate on this purpose?

The text in Chapter 16 offers a clear reason for the Sadguru's physical incarnation. Despite being described as the "King of Yogis," Stainless (Niranjana), and beyond attributes (Gunatita), he has a compassionate mission. Chapter 16 explicitly states, "You have taken this body for the sake of helping others, to uplift the poor and lowly." To achieve this, He metaphorically dons a "cloak of ignorance" to better relate to and impart knowledge to the ignorant. By doing so, He provides "sweet instruction" without overstepping boundaries of conduct, thus fulfilling his primary purpose of guiding and elevating humanity.