Universal credit and mental health

Universal credit (UC) is now the main benefit for working-age people. It is claimed by people who are disabled and by those who are not, and by those who are working and those who are not. But how well does UC support those who might need more help to claim? In particular, does the Department for Work and Pensions (DWP) respond to the needs of people with mental health problems to ensure they can access UC fully?