Work Program forcing activities you can't do

On ESA-WRAG and on Work Program, if you've already informed them that there are certain activities you can't due to disability and they attempt to force you to do so anyway what do you do? 

I'm autistic (ASD) and suffer from general anxiety disorder. I can't do role-play but Work Program staff seem to think this is just 'I dislike doing role-play' rather than it being due to disability - they don't seem to understand that I can't pluck things out of nowhere to fill-in missing information to act within a given situation and I can't perform in front of others. If I do role-play it's a guaranteed meltdown; it may cause me to hurt myself or hurt the staff members, will result in my inability to function fully for up to a week afterwards, and may make my autism significantly worse long-term. They just don't seem to acknowledge my disability and refuse to listen to me when I tell them what would or wouldn't be helpful to me, they've not even asked about my work history or what could help.

My concern is that; 
A.) they make me do it regardless, and I suffer harm as a result. 
B. i) if I can't do it or refuse to do it my benefits will be sanctioned. 
B ii) I can't appeal if sanctioned as DWP are just as unlikely to understand Autism. 

The mere thought of this situation is causing me to suffer anxiety, sleeping problems, and I'm struggling to function...even without the threat of role play Work Program causes these problems because I'm always *TERRIFIED* of what Work Program are going to do to me or that they're going to sanction me - in the past I've experienced verbal abuse and a sanction as a result of their eror, so this fear isn't unfounded. This role play thing hasn't happened so far but I'm really worried about what exactly I'm supposed to do when it does come up...can I refuse to do it? What happens if I do? 
This goes for other things too...work experience is fine, or at least as 'fine' as working for free can be, but what if the specific work placement is prejudice against me or I would struggle to work there because they use phones (I can't use a phone) or it involves lots of talking to others. Or what about them trying to force me to apply for work via phone, or for jobs I know I'd struggle with, etc. I'm worried that they will force me to do things I can't do, and as a result I'll experience crippling meltdown or/and lose my benefits...I don't know what my rights are, or if I have any at all.