What reason does Chapter 16 give for why the Guru, the King of Yogis, has taken a physical form?

Chapter 16 explicitly states the compassionate purpose behind the Guru's incarnation. After hailing Him as the Stainless, Imperishable, and King of Yogis, the text clarifies that 'You have taken this body for the sake of helping others, to uplift the poor and lowly.' This passage underscores that the Guru's presence in a physical form is a deliberate act of grace and compassion. His mission, as described in this chapter, is not for personal gain but to guide and elevate humanity, particularly those who are spiritually and materially impoverished, by imparting knowledge and fostering devotion.