diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 33922b3b..982b2960 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,100 +1,135 @@
+name: Continuous integration
+
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
 
-name: Continuous integration
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
 
 jobs:
-  ci:
+  rust_tests:
+    name: Rust tests (${{ matrix.name }})
     runs-on: ${{ matrix.os }}
+    timeout-minutes: 45
     strategy:
+      fail-fast: false
       matrix:
-        os: [ubuntu-latest]
+        include:
+          - name: Linux
+            os: ubuntu-latest
+          - name: macOS
+            os: macos-latest
+    steps:
+      - uses: actions/checkout@v5
+
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
+        with:
+          toolchain: stable
+          rustflags: ""
+
+      - name: Cargo tests
+        run: cargo test
+
+      - name: Cargo tests (RP and JEM)
+        run: |
+          cargo test --features rp
+          cargo test --features jem
+
+  python_tests:
+    name: Python tests (${{ matrix.name }})
+    needs: rust_tests
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 45
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: Linux
+            os: ubuntu-latest
+            skip_rpi_test: 0
+          - name: macOS
+            os: macos-latest
+            skip_rpi_test: 1
     env:
       DO_DOCKER: 0
+      SKIP_RPI_TEST: ${{ matrix.skip_rpi_test }}
     steps:
-      - uses: actions/checkout@v2
-      - uses: egor-tensin/setup-clang@v1
-      - uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v5
+
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
-          profile: minimal
           toolchain: stable
-          override: true
-      - uses: actions-rs/cargo@v1
-        with:
-          command: test
-      - uses: actions/setup-python@v5
+          components: clippy
+          rustflags: ""
+
+      - uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
-          architecture: 'x64'
+          python-version: "3.12"
+          cache: "pip"
+          cache-dependency-path: open-codegen/setup.py
+
+      - uses: egor-tensin/setup-clang@v1
+        if: runner.os == 'Linux'
+
+      - name: Install Linux ARM target
+        if: runner.os == 'Linux'
+        run: rustup target add arm-unknown-linux-gnueabihf
+
       - name: Install ARM cross-compiler and C libraries
+        if: runner.os == 'Linux'
         run: |
           sudo apt-get update
           sudo apt-get install -y gcc-arm-linux-gnueabihf libc6-dev-armhf-cross
-          # If icasadi_rosenbrock or other deps need C++:
-          # sudo apt-get install -y g++-arm-linux-gnueabihf
-      - name: Cargo tests (RP and JEM)
-        run: |
-          cargo test --features rp
-          cargo test --features jem
-      - name: Run tests (script.sh)
-        # Set environment variables for the cc crate
+
+      - name: Install LLVM
+        if: runner.os == 'macOS'
+        run: brew install llvm
+
+      - name: Run Python tests and generated Clippy checks
+        if: runner.os == 'Linux'
         env:
           CC_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-gcc
           AR_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-ar
-          # If C++ is involved and you installed g++-arm-linux-gnueabihf:
-          # CXX_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-g++
-        run: |          
-          bash ./ci/script.sh
+        run: bash ./ci/script.sh python-tests
 
-  ci_macos:
+      - name: Run Python tests and generated Clippy checks
+        if: runner.os == 'macOS'
+        run: bash ./ci/script.sh python-tests
+
+  ocp_tests:
+    name: OCP tests (${{ matrix.name }})
+    needs: python_tests
     runs-on: ${{ matrix.os }}
+    timeout-minutes: 45
     strategy:
+      fail-fast: false
       matrix:
-        os: [macos-latest]
+        include:
+          - name: Linux
+            os: ubuntu-latest
+          - name: macOS
+            os: macos-latest
     env:
       DO_DOCKER: 0
     steps:
-      - uses: actions/checkout@v2
-      - run: brew install llvm
-      - uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v5
+
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
-          profile: minimal
           toolchain: stable
-          override: true
-      - uses: actions-rs/cargo@v1
-        with:
-          command: test
-      - uses: actions/setup-python@v5
+          rustflags: ""
+
+      - uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
-      - run: cargo test --features rp
-      - run: cargo test --features jem
-      - name: Install ARM cross-compiler toolchain (via Homebrew)
-        run: |
-          # Tap the repository that provides the cross-compiler
-          brew tap messense/macos-cross-toolchains
-          # Update brew to ensure the tap is recognized (can sometimes be needed)
-          brew update 
-          # Install the full toolchain (includes gcc, binutils, sysroot)
-          # This specific formula provides the entire toolchain.
-          brew install arm-unknown-linux-gnueabihf 
-          
-          # The above `brew install` might have linking conflicts if other partial
-          # toolchains were somehow pre-installed or installed by other steps.
-          # If it fails with link errors, you might need:
-          # brew link --overwrite arm-unknown-linux-gnueabihf
-
-          # Verify the compiler is found
-          which arm-linux-gnueabihf-gcc || (echo "arm-linux-gnueabihf-gcc not found in PATH" && exit 1)
-      - name: Run tests (script.sh)
-        # Set environment variables for the cc crate and PyO3 (if needed)
-        env:
-          CC_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-gcc
-          AR_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-ar
-          # If you are building PyO3 bindings and need to specify Python libs from the sysroot:
-          # PYO3_CROSS_LIB_DIR: "/opt/homebrew/opt/arm-unknown-linux-gnueabihf/arm-unknown-linux-gnueabihf/sysroot/usr/lib" # Adjust path and Python version
-          # PYO3_CROSS_INCLUDE_DIR: "/opt/homebrew/opt/arm-unknown-linux-gnueabihf/arm-unknown-linux-gnueabihf/sysroot/usr/include/python3.x" # Adjust path and Python version
-        run: |
-          bash ./ci/script.sh
+          python-version: "3.12"
+          cache: "pip"
+          cache-dependency-path: open-codegen/setup.py
+
+      - name: Run OCP Python tests
+        run: bash ./ci/script.sh ocp-tests
diff --git a/ci/script.sh b/ci/script.sh
index 35599d7e..18f1f2b7 100755
--- a/ci/script.sh
+++ b/ci/script.sh
@@ -1,6 +1,9 @@
 #!/bin/bash
 set -euxo pipefail
 
+SKIP_RPI_TEST="${SKIP_RPI_TEST:-0}"
+TASK="${1:-all-python-tests}"
+
 function run_clippy_test() {
     pushd $1
     cargo clippy --all-targets --all-features
@@ -21,53 +24,51 @@ function run_clippy_test() {
     popd
 }
 
-regular_test() {
-    # Run Python tests
-    # ------------------------------------
-
-    # --- create virtual environment
+setup_python_test_env() {
     cd open-codegen
     export PYTHONPATH=.
 
-    # --- install virtualenv
-    pip install virtualenv
-
-    # --- create virtualenv
-    virtualenv -p python3.12 venv
-
-    # --- activate venv
+    python -m venv venv
     source venv/bin/activate
+    python -m pip install --upgrade pip
+    python -m pip install .
+}
 
-    # --- upgrade pip within venv
-    pip install --upgrade pip
-
-    # --- install opengen
-    pip install .
-
-    # --- rust dependencies
-    rustup update
-    rustup target add arm-unknown-linux-gnueabihf
+generated_clippy_tests() {
+    pushd .python_test_build
+    run_clippy_test "only_f1"
+    run_clippy_test "only_f2"
+    run_clippy_test "halfspace_optimizer"
+    run_clippy_test "parametric_f2"
+    run_clippy_test "plain"
+    run_clippy_test "python_bindings"
+    run_clippy_test "rosenbrock_ros"
+    popd
+}
 
-    # --- run the tests
+run_python_core_tests() {
     export PYTHONPATH=.
+
     python -W ignore test/test_constraints.py -v
     python -W ignore test/test.py -v
-    python -W ignore test/test_ocp.py -v
-    python -W ignore test/test_raspberry_pi.py -v
-
+    if [ "$SKIP_RPI_TEST" -eq 0 ]; then
+        python -W ignore test/test_raspberry_pi.py -v
+    fi
 
     # Run Clippy for generated optimizers
     # ------------------------------------
+    generated_clippy_tests
+}
 
-    cd .python_test_build
-    run_clippy_test "only_f1"
-    run_clippy_test "only_f2"
-    run_clippy_test "halfspace_optimizer"
-    run_clippy_test "parametric_f2"
-    run_clippy_test "plain"
-    run_clippy_test "python_bindings"
-    run_clippy_test "rosenbrock_ros"
-    
+run_python_ocp_tests() {
+    export PYTHONPATH=.
+    python -W ignore test/test_ocp.py -v
+}
+
+all_python_tests() {
+    setup_python_test_env
+    run_python_core_tests
+    run_python_ocp_tests
 }
 
 test_docker() {
@@ -77,8 +78,26 @@ test_docker() {
 
 main() {
     if [ $DO_DOCKER -eq 0 ]; then
-        echo "Running regular tests"
-        regular_test
+        case "$TASK" in
+            python-tests)
+                echo "Running Python tests and generated Clippy tests"
+                setup_python_test_env
+                run_python_core_tests
+                ;;
+            ocp-tests)
+                echo "Running OCP Python tests"
+                setup_python_test_env
+                run_python_ocp_tests
+                ;;
+            all-python-tests)
+                echo "Running Python tests, generated Clippy tests, and OCP tests"
+                all_python_tests
+                ;;
+            *)
+                echo "Unknown task: $TASK"
+                exit 1
+                ;;
+        esac
     else
         echo "Building Docker image"
         test_docker