Yes, setting up a tent would be just like taking them in the bathroom. Only, a tent is a little smaller so they are almost forced to interact with you. It's just a small safe enclosed environment for you guys to interact and play. Wherever you choose to do this (tent or bathroom) make sure to take lots of toys and treats! If you do choose the bathroom make sure to baby proof it. Remove razors and other sharp objects, keep the toilet seat down, stuff like that.
Instead of grabbing them out of the cage, try taking them out while they are still sleeping in their pouch! Just unhook the entire pouch and take it with you to the bathroom or tent. You can gently coax them out with treats or roll the pouch down like a sock until they have to come out. Once they are out of their pouch, hide it or sit on it so they can't go back in!!
Here is a picture of when I rolled down the pouch to get Panda to come out:
It's best to not grab them out of their cage, no matter how gently. This may make them fearful of you AND your hands which you don't want! Eventually, they will trust you enough so that when you open their cage they will probably hop right to you!
I hope this has been helpful. Good luck, take lots of pics, and happy bonding!!!