Why did the Sadguru take on a human body, and how does he interact with the ignorant according to Chapter 16?

The introduction to Chapter 16 states that the Sadguru, the King of Yogis, has taken a physical body specifically for the purpose of helping others and to 'uplift the poor and lowly.' To achieve this, He sometimes dons a 'cloak of ignorance' to better impart knowledge to the ignorant. This means He meets people at their level, providing 'sweet instruction' without transgressing the boundaries of proper conduct, thereby guiding them gently towards spiritual understanding.