Assessment nightmares

Hi all .. this is my first ever post I am a technophobe so please bare with me .. I am going through hell at the minute, I had been in esa support group for ten years ,after a esa assessment in November last year I was placed in the wrag group and a dwp rep said yes we know you are not well enough to work now BUT you may be able to do something in 18months time (I have psoriatic arthritis, lumbar & cervical disc degeneration with bone spurs and stenosis (trapping nerves ) also Menderes disease, fibromyalgia severe depression and anxiety and a few other less debilitating illnesses ). My contribution esa runs out next week so at the minute I am filling in a income related esa application , last week I had a f2f pip assessment at home I managed to answer questions but towards the end (after one and a half hours ) she asked me a question on dressing which she obviously thought my answer wasn't right (I told her I pull a bra without a fastener up from my legs ) she asked what like a sports bra ? I said yes but it's not ,it's a light elasticated "bra " that gives me no support but is comfortable next to my body when I feel delicate ,which pulls up easily over my narrow hips ,I went to pieces and couldn't speak so I am expecting a brown envelope soon to say I am not entitled to anything, I am so mad at myself because I can't put my point across due to anxiety and low self esteem , I've been to my lovely GP's this morning because I feel suicidal she is very supportive and has wrote lots of evidence for me for past assessments (which they ignore ) I don't know which way to turn!! Any advise would be welcome.

Gordon yes I did challenge the decision at the time even took it to tribunal , but I went to pieces there aswell , so the decision stayed the same . I will wait for the decision to come and if it's bad news I will challenge it with help from b&w doc has upped my diazepam so hopefully I will feel stronger , thankyou Gordon I will let you know how I get on Jue