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Lua has a lot going for it. Its memory footprint is nicely small, its practical expressiveness is quite high (though not as high as Python's or Perl's), luajit's runtime performance is very good for such a highly-expressive language, and it has a great set of libraries integrating with a lot of commonly-used services.
There's fennel if you're a fan of LISP syntax. I like embedding lua because it's light and easy and doesn't re-engineer itself every six months like python; but I agree, the lua syntax certainly is fugly.