Sending good thoughts your way, OP. We were in a somewhat similar situation with my aunt a few years ago--not quite sitting in urine, but she did not bathe or take care of herself, was hoarding, not taking her medications, etc. For whatever reason, she really responded to the APS "officials." We were just her worthless family who was always picking on her--the APS people represented some kind of authority to her, and while I don't know how much they could have actually forced her to do if she had refused, she was much more willing to do what they said, than to listen to us.
We were able to get her into an adult care facility, where she currently hates all of her caregivers. BUT... she is in a much better place mentally and her relationship with her family is much improved. You did the right thing.