I've moved your post to its own topic, we ask members not to post their questions in other member's topics as it can lead to the wrong advice being given or taken.
Our UC/ESA Claim guide explains the criteria you are being assessed against and how to explain your limitations. They can be found in the members only guides section, See www.benefitsandwork.co.uk/help-for-claimants/esa1
If you have more questions then please return to the forum and we will do our best to help.
Gary
Nothing on this board constitutes legal advice - always consult a professional about specific problems