What was your experience with Lua if it worked?
What were the disadvantages that kept you looking for other extension languages?
https://github.com/yuin/gopher-lua
https://github.com/Shopify/go-lua
Unless you specifically need a JVM either of these will be a much more practical and mature choice for embedded scripting.
Alternatively if you prefer JS then Otto is a good choice: https://github.com/robertkrimen/otto