tolittle, you can ask to do the activities of the WRAG, if you find any that are any use for you. They're supposed to be available to everyone on ESA - just that for the WRAG, "being helped" is mandatory and enforced.
You can find out what your JobCentre disability clerks are offering locally.
I wouldn't get your hopes up too far - I looked into this back when it was a genuine service taken up only by people who found it useful (rather than a form of "hassle", as Lord Freud so charmingly put it). And even then their activities were mostly basic literacy, "CV-writing" and "being encouraging".
I used them to get a guaranteed interview for a job I'd seen in the paper. I didn't get the job - which may or may not have been because I disclosed my health problems and likely absence rate. Just as well all round, given my health then deteriorated, but there you go.
Anyway, you can but ask, and there might be something useful for you. But I would treat the DWP with caution and get everything in writing. You don't want to find you're now being treated as a mandatory participant and sanctioned if you decide it's not working for you (as happened to people re "voluntary work experience" aka workfare.)
Also, try your local college or library. Some may have courses cheap or free for people on certain benefits.