Why did the Sadguru take a physical form, according to the teachings in Chapter 16?

The text of Chapter 16 explicitly states the compassionate reason for the Sadguru's incarnation. After describing him as the supreme 'King of Yogis' who is stainless and imperishable, the chapter clarifies that 'You have taken this body for the sake of helping others, to uplift the poor and lowly.' This reveals that his purpose is purely altruistic. Chapter 16 further elaborates on his method by explaining that he sometimes dons the 'cloak of ignorance' in order to impart knowledge to the ignorant, providing 'sweet instruction' to guide humanity. His physical presence is thus an act of grace intended for the spiritual upliftment of all.