I didn't say I
expect anything from anyone, but we all have the choice, with the very rare exception for those that are developmentally disabled and incapable of rationally choosing.
For the vast majority of those of us who have the power to think and consult one's conscience, we can and do choose the course of our action. Over time, we can also choose to escape our ignorance and learn the ideals that facilitate humanity in our mostly mammalian body, and then choose to learn how to be better and then actualize being better.
Very few of us have anything but a lame-ass excuse, usually falling back on one's cultural upbringing to make excuses for our deliberate, if unthinking, choices.
The best "structure", as you put it, is to make empathy a major part of childhood education, teaching that we are all human beings, each differently endowed but worthy of respect to some degree. As well, we have to teach that we have to resist the inner urgings towards selfishness and ignorance in favor of willful action that will the benefit of the whole.
But, no, I do not agree that most people cannot learn such a moral framework, and the proof is the simple fact that we are all living in groups, none of us being completely self-sufficient for all our human survival needs, not to mention those things that bring us entertainment and relaxation.