seq = env.permutation(N).get_permutation()
for k in range(N):
    if k > 0:
        c = env.index([env.index([seq[k-1]], COL),
                       env.index([seq[k]], COL)], SETUP)
        cleaning.append(c)
        t = t + c
    t = t + env.index([seq[k]], DUR)
    late.append(env.index([seq[k]], PEN)
                * env.max_0(t - env.index([seq[k]], DUE)))
env.minimize(total, 5)