What is ESA work related activities?

Even though I had enough points in my recent assessment to stay on ESA, they have moved me into the work related activity group so I get less money.
I was assessed by a physiotherapist who kept telling me what to say.
I don't understand, as they say I have been moved into the work related activity ESA group so get less money, but then said I should be getting more money and sent me lots of backdated Severe Disability Premium. They said the Severe Disability Premium isn't connected to if you can work, and it's connected to being on PIP. I was turned down for PIP before, and had to waste years of my life appealing that in a court and won in the end.
I have autism, and had a breakdown because I was previously put on JSA, and even though they acknowledged I have medical conditions, they still put me on useless work programmes with regular threats of taking away money I needed to live on. I just had to sit in front of a computer many days a week, applying for jobs unsuited to my condition. I thought I was going to end up homeless and on the streets because my tics and anxiety were getting worse from their threats of taking away my benefits if I couldn't do what they told me. I had to humiliate myself applying for jobs I knew weren't suitable for me and wasting employer's time. I ended up suicidal and in the end was put on ESA. I was put in the work related activity ESA group before, but appealed and was then put in the support group after the mandatory reconsideration.
I had to recently reapply for ESA and that's when I was put back in the work related activity group. When I was on JSA before, I know that their idea of training and support for work related activities are rubbish work programmes. I asked the JSA work programmes if they offer education, training or support to help me be qualified for a job I'm able to do for my condition, but all they said was that they don't do actual training for skills. Has it changed since I was last on JSA and they now offer real training and support?
I had to give up a useful course I had started myself, because of the stress of the useless Job centre work programmes.
I would love to do a useful course or volunteer work without constant threats so they make me more ill from anxiety. I think I can do that on the ESA support group anyway.
I heard it's a government policy to move many into the work related activity group. Have they suddenly started with useful ways to build up skills, or is it the same old thing where you have to make about 100 CVs with different people, but not helped to do anything with useful work experience or skills? I don't want to do something because of another dumb Tory policy designed to make the sick and vulnerable suffer.
The person who helped me appeal the PIP and being put into the work related group before has had their funding taken away by the government so I'm on my own, and Citizen's Advice aren't much help.
I asked the Job Centre for an explanation of their decision before I do a mandatory reconsideration, and trying to think where I can get help to appeal. I don't know how to explain in a mandatory reconsideration, as my Dr sent them a detailed explanation of my problems which should have been enough points to stay in the support group, and I can't do more than that.