PIP, ESA, UC and me

Hello, I have a condition called degenerative congenital spinal stenosis, it's severe lumbar spine pain but also affects the muscles and nerves in my legs causing extremely painful cramps and numbness, I have a carer 24/7 and walk with crutches and (I also have osteoarthritis in the lumbar spine too) I'm on several very strong medications and live in pain daily. I have been on Universal Credit since November last year and on PIP for just over a year. I cannot hold down a job and have been getting fit notes since November and now I have been given an indefinite fit note which means there's no end date but; I have had a work capability assessment for ESA, but Universal Credit scored me as totally fit for work (ESA should have made the decision but seems that there was a screw-up somewhere) and my work coach says that I cannot provide any further fit notes because of this (idiotic and wholly incorrect) decision. Can my jobcentre and the DWP actually ignore a fit note?!? I'm flying blind here and genuinely have no idea if I'm getting the right info or the correct benefits. So please help.