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The robots at the Post Office are a mere convenience for passport applicants. The postal clerks merely make sure you provide photos and the requisite proof of citizenship and that you are identified by some convincing form of ID (often a DL) and then that you sign the application. They let you keep your ID and the rest goes on the the regional Passport Office of the US Dept of State where real passport examiners take a look at the documentation. You should get the documents back with your passport.
The postal clerks are not prepared for the exceptional cases (or for cases that urgently need a passport right away). This is probably why they sent you away. Take all the documentation, the photos, the ID, etc, directly to the regional passport office where the "expert" will either accept what you submit or else give you clear instructions on what more you need to submit.
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