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i didn't see this mentioned (because I may not have the correct address of the Where Lua Is Used page):

The newest Lego Mindstorm cpu uses an arm9 based processor and Lego has opened the firmware for hacking. These guys have a Linux distribution configured with a language binding interface, which uses files to communicate with the hardware. Any language that can open a file is supported.

They've included Lua bindings and some test applications. Lua 5.1 is installed by default. I've installed Lua 5.3 and it works great. I'm working on setting up remote debugging with ZBS, but the version of luasocket installed by luarocks is not happy with 5.3, so I have more fiddling to do there. 

Anyway, the binding that they provide is very simple and therefore infinitely hackable.