Incapacity to ESA without medical?

Hi. I followed the guide from this site on how to fill out my questionairre correctly. I have just received form IBM260 saying my benefit is changing to ESA. Does this mean the decision has been made and I do not have to attend a medical? If so it would be great news and I will only have this site to thank for it.

What ESA have you got
If you managed Support group whoopee, well done, however, if you got WRAG group of the ESA, then u need to start fighting.