How Can I Train My Shy Dog To Do The Weave Poles?

We’ve been at this for a LONG time, but its realy hard. He LOVES to do the rest of the agility stuff..he doesnt play with toys, so he goes all out when we do agility. When someone goes to pick him up, he yelps..hes not hurt or anything, just realy skittish. He is well socialized, but we think he might have been sat on by his mother when he was a pup. Oh, by the way, he’s a 4 year old papillon male. I would realy love to compete with him this summer, but we need to learn the weave poles.
Thanks!