What reason does Chapter 16 give for the Guru, hailed as the 'King of Yogis', taking on a physical body?

The text in Chapter 16 explicitly states that the Guru, despite being the stainless, imperishable, and attribute-less 'King of Yogis', has taken on a physical form for a compassionate purpose. The primary reason given is for the sake of helping others and, specifically, to uplift the poor and lowly. This act is presented not as a necessity for the Guru, but as a deliberate choice made out of grace to guide and elevate humanity. By incarnating, as described in Chapter 16, He makes his profound wisdom and uplifting presence accessible to all who seek it, especially those who are struggling in worldly existence.