"they get stuck and will just hang there until someone helps them up!"
I believe that this is the crux of the problem. I have to continually remind my coaches that 'helping is hurting.' The more work you do for them, the less they will have to do, the longer before they get better. It's easy to over spot a skill like that without realizing it because such a little spot from us makes a huge difference. Since it's hard to find time to condition, I let the struggle to get up be the skill specific conditioning. I put a hand above the back of their legs so that when they exert effort they don't lever forward and flip off of the front of the bar. I then give them lots of encouragement, and when I feel they have given it their all and made it as far as they can, I will give them just enough of a spot for them to get it. Follow that with lots of praise, rinse and repeat as long as necessary!