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

The text in Chapter 16 explicitly states the purpose behind the Sadguru's incarnation. After praising him as the "Stainless," "Imperishable," and "King of Yogis," the author declares, "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights a compassionate motive. The chapter further elaborates that he imparts knowledge to the ignorant by donning a "cloak of ignorance" himself, giving sweet and practical instruction without transgressing conventional boundaries. This shows his purpose is to descend to the level of ordinary people in order to guide and elevate them.