He worked along with fellow pupil Cosimo Ulivelli in Franceschini's projects, decorating rooms in the Palazzo Giraldi, now Taddei, on via de' Ginori.
From September 1668 to March 1669 he was a chamberlain to the future Cosimo III de Medici, while the latter traveled through Europe, including France,[3] Spain,[4][5] Portugal,[6] Ireland, England, the Netherlands and Belgium.
Among his painted figure pieces are a Madonna of the Rosary and Saint Domenic (circa 1684) for the main altar of San Domenico al Maglio (now belonging to the Scuola di Sanità Militare)[7] and a lunette frescoed with the Baptism of St Augustine in the first cloister of Santo Spirito.
The lobbying of Riccardi, helped obtain in 1670 the appointment of Baldi in 1670 to chief architect to the court of Grand Duke Cosimo III.
In 1679 he designed for the Grand Duke the church of Santi Quirico, Lucia e Pietro d'Alcantara and its attached convent of the Reformed Friars Minor.