If your counselor ignored your documented medical requirements and forced you into a job you were not cleared to do (something they can't do mind you) then you have a legal case and should contact a lawyer.

If your work is making you do work beyond the agreed upon limits that you're approved for you need to talk to HR or quit and get back into vocational rehab.

There's a hierarchy to this whole thing and a lot of rules. I don't know your situation fully but something really doesn't add up and I tend to think it lies in what you think you can do, and what a doctor says you can do.

Voc rehab is bad because they push you into low paying jobs if it fits your limits regardless of your financial needs. It doesn't ignore those limits if you have medical documentation stating those limits.

I'd be curious to know more about your case. Maybe I could point you in the right direction? I see hundreds of voc reports a month and know a decent bit about it.