For what reason did Sai Baba, the 'King of Yogis', take on a physical body, as explained in Chapter 16?

Chapter 16 provides a clear and compassionate reason for Sai Baba's incarnation. The text praises him as the 'Stainless,' 'Imperishable,' and 'King of Yogis,' and then directly states, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights the core purpose of his manifestation. Despite being beyond worldly attributes and needs, he assumed a physical form out of a purely altruistic motive: to guide, support, and elevate humanity, especially those who are spiritually and materially in need of help.