This will take a lot of patience on your part. The bird needs to feel comfortable and trust you. They are not like dogs and cats. First I would stop trying to get them to step up. Sit quietly beside their cage. Don't make eye contact. Read a book or the paper, you can even read to them. This will take several days if you're lucky, if not it can take several weeks, maybe even months. The bird is calling the shots. After doing this for awhile and seeing that they are no longer frightened (flying away from you, feathers held tight to their body), you can try opening the cage door. If they're comfortable they will come out on their own. Sometimes a treat, sunflower seed, a piece of nut, millet, will help. you may have to leave the cage door open several times before they will come out. Most birds like to come out of their cages if they are not frightened, or are busy eating, or napping. you didn't say what kind of birds you had. Some birds don't like to be touched, finches often aren't used to being handled. As for the featherpicking take them to an avian vet to make sure there's no underlying health issue. Make sure they have a good diet, not just seeds only. Give some fresh food daily, especially greens. Hope this helps. Good luck.