The ideal choice of verb is best illustrated with some examples.
If the chairs and tables were kept in a storeroom and had to be set up in a hall, somebody standing in the hall might say:
The kids bring all the chairs and tables out, and they set them up.
However, an observer inside the storeroom would say:
The kids take all the chairs and tables out, and they set them up.
So, objects are generally brought towards the speaker and taken away from him/her. Additionally, the speaker, located elsewhere, might ask someone to fetch/bring/take the chairs from the storeroom and set them up in the hall. It's just a question of which verb feels most natural in context.
Take out doesn't necessarily imply outside of a building, just out of a particular area/space/room.
Pull out and draw out both imply that the objects have been stored in such a fashion that they first need to be withdrawn by being pulled out before they can be carried away.