The Well of Penitence was just a grand name for a cell, with the only difference being that there were all sorts of training materials available for free which could be used.
Of course, there was a limit, and apparently, they were also only offered the first time that one found themselves here. The idea here was that the first time might be an accident, but if one kept coming back, then it was intended, and the Order did not have any intention of making this a free training ground which could be gotten into if one simply broke the rules.
As Daneel was idle, he picked a Ker Gem nearby and finally began to train after what felt like a long, long time.
The last time he had trained was back when he had still been in the early ranks of the Warrior realm. Right now, as he trained, he realized that he had gotten quite addicted to the feeling of jumping through the ranks in the manner he had done.