In contrast, Python is easy to read, write and debug.
I quite like the small footprint of Lua as an embedded script language, which is easy to read, write and runs relatively fast.
I'd probably use Lua or a Scheme as an embedded scripting language if I had the need (generally, I try to not let my programs get so big that the require embedded scripting, but instead attempt to create orthogonal CLI commands that do one thing well and that can be scripted from the outside via POSIX sh).