Hi gladden,
All I can say is that we have never seen an unfavourable ESA decision used to make a PIP decision.
You can get a copy of the ESA assessor's report - but only after a decision has been made. You should phone DWP for it and ask for the ESA85 (it would have been an ESA85a if there had not been a face2face assessment).
Nothing on this board constitutes legal advice - always consult a professional about specific problems