It’s supposed to be the kind of thing councils issue grants for. PIP is for the
ongoing additional costs of being disabled. Not my specific area of expertise
but I work alongside people who have to persuade local councils to do their jobs and facilitate disabled people being able to live at home. Councils in the area we cover try very hard not to accept people as meeting thresholds, as they don’t want to spend the money. (Council budgets have been slashed to ribbons over the last 12 years, but I think they should prioritise stuff like adaptations in the budgets they’ve got.)
And speaking from family experience, getting the bare minimum council-funded adaptations if the council doesn’t fight you on them isn’t the same as getting good adaptions that will really help with independence. A moveable/knockable frame around your toilet isn’t the same as proper supports firmly attached to the wall and floor, for example.