This may not work out, as the fines may be lower than the costs of development to address the underlying issues, while it's at the same time all about basic safety of the community. (The fines would have to be higher than the cost of "oops, we have to employ human safety drivers and put them into every car.")
push the robotaxi out of the way with the engine (in the one way street example; this doesn't work with all of them) and bill the company for damage to the engine's bumper. If you park your (human) car in front of a hydrant they'll break your windows with an axe or a halligan and run the hoses through it and you'll be on the hook for fixing your car.