Simplify the following text for a Grade 9 native English-speaking person.
Original: Mahasiddhas are a form of bodhisattva , meaning they have the spiritual abilities to enter nirvana whenever they please , but they are so compassionate they resolve to remain in samsara to help others .
Simplified: The Mahasiddhas are actual people who lived in the past who had magical powers because of their spiritual practice . A mahasiddha is a bodhisattva , someone who can enter nirvana whenever they want , but instead choose to stay in samsara to help others .