Work assessment appointment

Is it possible to ask for a paper assessment for work capability ?
My daughter is already receiving U.C and higher PIP and mobility. She can't do a f to f appointment as she has various mental health problems which mean if she did go to the appointment, she would find it incredibly difficult and would be very upset by the process.
Thank you.

I thought you could, but ive phoned them today and asked 2 different people and they both said no I couldn't have a paper one, so now she has to attend the f tof as it's tomorrow, and I know she will be distressed by it all. They haven't even given us the address or directions to the place! It's appalling they treat you like this.

We had to attend in the end and the lady was very nice and understanding, but she dragged up all of my daughters history. Her suicide attempts, her being sectioned, her self harm. My daughter was extremely distressed and crying with it all. When I took her home, I was afraid to leave her as her mood was so low.