Did Allah avoid incarnating in human form to prevent idol worship?

[Śrī Anil asked: In an online discussion, a Muslim devotee objected to God incarnating in human form. He said that Allah did not come to earth Himself because He feared that Muslims might make idols of Him for worship, which is forbidden in Islam.]

Swami replied: This issue has already been answered earlier. If you resist this concept of idol worship or the worship of any form of God so much, why do you even go to mosques? Allah is not there in the mosque too since He never came to earth, according to you! Sitting in a mosque, you meditate upon Allah, who is above. Similarly, thinking about Prophet Mohammad, I am meditating upon Allah, who exists above. Just as the mosque is the basis for your meditation on Allah, the Human Incarnation is the basis for My meditation upon Allah. You pray before a wall, considering it to be a representative model for Allah. Is not equal to idol worship? For beginners, some basis is necessary for meditating upon the unimaginable God called Allah. Perhaps, you are an advanced person and can pray to Allah without help of any such basis. I am an ordinary person, who is just a beginner in the spiritual path. So, I need some basis for praying to Allah. Even God cannot preach to a person with hundred percent rigidity!