we have a few tricks we use:
pressure game: pair up first person goes, if they stick and then the 2nd person falls zero points; if both stick three points, only second person sticks 1 point - then switch order. pressure is always on the 2nd person.
cold set: one line thru on the floor and then full routine on the beam.
mock meet...everyone watches. As get closer to state, regionals, have whole gym watch..or invite rec parents out to be audience.
meet scenarios...have as many beams running at once talk thru various meet scenarios...i.e. judges taking a long time, last up, 1st up, late for meet, just fell 3 times on previous event, just nailed previous event etc...then everyone presents and goes (those waiting do arm thrus)...