But then the money has strings attached and you need to check whether people really comply (= cost). Basic income wants to avoid that by simplifying the welfare system assuming that most people do not want to simply be idle.
Simplifying the welfare system is a good idea, but my idea is more like gamifying the system and giving people rewards for doing good things. Simplicity is not the only virtue, what about tangible, measurable outcomes that have improved people's lives?
Some things are not immediately measurable? Who is going to decide what is worthy? I may take care of my community by planting pretty flowers all day (like in Minecraft), would that fit your criteria?
You try to gamify and I think people would game it instead.
Instead, basic income makes you free to figure out what is a worthy endeavour.