I am not a teacher.
As a general rule of thumb, if something is elongated like a bottle or a lamp - and in an upright position - we could say it is standing, or if it is flat like a newspaper - and in a horizontal position - we could say it is lying. The choice of the verb could also add something to the description of the thing as being squat or thin, and so on.
However, in English, to say where something is we very often simply use the verb 'to be'.
I don't know anything about your language unfortunately but in Dutch, which is my second language, lying, standing, sitting and hanging are used much more and follow quite rigid rules. If you were to translate them back into French, for example, you would almost always use 'to be' in each case. English is a little more flexible than that (and more closely related to Dutch) so we do use sit and stand.
I would probably only use 'lie' for a jug if saying, 'a jug lying on its side' or similar. I wouldn't worry too much about a lamp standing / sitting on the table. If it's short and squat you could use either, if its tall I would probably say it's 'standing'. If in doubt, just say 'it is on the table'.
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