modded Companion order that allows you to set up a worker for comfort to do so you need to have the pointer on top of the unit you want to set up.

CompanionOrder.lua

local gui = require 'gui'
local dlg = require 'gui.dialogs'
local args={...}
local is_cheat=(#args>0 and args[1]=="-c")
local cursor=xyz2pos(df.global.cursor.x,df.global.cursor.y,df.global.cursor.z)
local permited_equips={}

permited_equips[df.item_backpackst]="UPPERBODY"
permited_equips[df.item_quiverst]="UPPERBODY"
permited_equips[df.item_flaskst]="UPPERBODY"
permited_equips[df.item_armorst]="UPPERBODY"
permited_equips[df.item_shoesst]="STANCE"
permited_equips[df.item_glovesst]="GRASP"
permited_equips[df.item_helmst]="HEAD"
permited_equips[df.item_pantsst]="LOWERBODY"
function DoesHaveSubtype(item)
    if df.item_backpackst:is_instance(item) or df.item_flaskst:is_instance(item) or df.item_quiverst:is_instance(item) then
        return false
    end
    return true
end
function CheckCursor(p)
    if p.x==-30000 then
        dlg.showMessage(
                'Companion orders',
                'You must have a cursor on some tile!', COLOR_LIGHTRED
            )
        return false
    end
    return true
end
function getxyz() -- this will return pointers x,y and z coordinates.
  local x=df.global.cursor.x
	local y=df.global.cursor.y
	local z=df.global.cursor.z	
	return x,y,z -- return the coords
end

function GetCaste(race_id,caste_id)
    local race=df.creature_raw.find(race_id)
    return race.caste[caste_id]
end

function EnumBodyEquipable(race_id,caste_id)
    local caste=GetCaste(race_id,caste_id)
    local bps=caste.body_info.body_parts
    local ret={}
    for k,v in pairs(bps) do
        ret[k]={bp=v,layers={[0]={size=0,permit=0},[1]={size=0,permit=0},[2]={size=0,permit=0},[3]={size=0,permit=0} } }
    end
    return ret
end
function ReadCurrentEquiped(body_equip,unit)
    for k,v in pairs(unit.inventory) do
        if v.mode==2 then
            local bpid=v.body_part_id
            if DoesHaveSubtype(v.item) then
                local sb=v.item.subtype.props
                local trg=body_equip[bpid]
                local trg_layer=trg.layers[sb.layer]
                
                if trg_layer.permit==0 then
                    trg_layer.permit=sb.layer_permit
                else
                    if trg_layer.permit>sb.layer_permit then
                        trg_layer.permit=sb.layer_permit
                    end
                end
                trg_layer.size=trg_layer.size+sb.layer_size
            end
        end
    end
end
function LayeringPermits(body_part,item)
    if not DoesHaveSubtype(item) then
        return true
    end
    local sb=item.subtype.props
    local trg_layer=body_part.layers[sb.layer]
    if math.min(trg_layer.permit ,sb.layer_permit)<trg_layer.size+sb.layer_size then
        return true
    end
    return false
end
function AddLayering(body_part,item)
    if not DoesHaveSubtype(item) then
        return
    end
    local sb=item.subtype.props
    local trg_layer=body_part.layers[sb.layer]
    trg_layer.permit=math.min(trg_layer.permit,sb.layer_permit)
    trg_layer.size=trg_layer.size+sb.layer_size
end
function AddIfFits(body_equip,unit,item)
    --TODO shaped items
    
    local need_flag
    for k,v in pairs(permited_equips) do
        if k:is_instance(item) then
            need_flag=v
            break
        end
    end
    if need_flag==nil then
        return false
    end

   
    for k,bp in pairs(body_equip) do
        local handedness_ok=true
        if df.item_glovesst:is_instance(item) then
            if bp.bp.flags["LEFT"]~=item.handedness[1] then
                handedness_ok=false
            end
        end
        if bp.bp.flags[need_flag] and LayeringPermits(bp,item) and handedness_ok then
            if dfhack.items.moveToInventory(item,unit,2,k) then
                AddLayering(bp,item)
                return true
            end
        end
    end
    return false
end
function EnumGrasps(race_id,caste_id)
    local caste=GetCaste(race_id,caste_id)
    local bps=caste.body_info.body_parts
    local ret={}
    for k,v in pairs(bps) do
        if v.flags.GRASP then
            --table.insert(ret,{k,v})
            ret[k]={v}
        end
    end
    return ret
end
function EnumEmptyGrasps(unit)
    local grasps=EnumGrasps(unit.race,unit.caste)
    local ret={}
    for k,v in pairs(unit.inventory) do
        if grasps[v.body_part_id] and v.mode==1 then
            grasps[v.body_part_id][2]=true
        end
    end
    for k,v in pairs(grasps) do
        if not v[2] then
            table.insert(ret,k)
        end
    end
    return ret
end
function getxyz() -- this will return pointers x,y and z coordinates.
	local x=df.global.cursor.x
	local y=df.global.cursor.y
	local z=df.global.cursor.z	
	return x,y,z -- return the coords
end
function getCreatureAtPos(x,y,z) -- gets the creature index @ x,y,z coord
	--local x,y,z=getxyz() --get 'X' coords
	local vector=df.global.world.units.all -- load all creatures
	for i = 0, #vector-1 do -- look into all creatures offsets
		local curpos=vector[i].pos --get its coordinates
		local cx=curpos.x 
		local cy=curpos.y
		local cz=curpos.z
		if cx==x and cy==y and cz==z then --compare them
			return vector[i] --return index
		end
	end
	--print("Creature not found!")
	return nil
	
end
function getCreatureAtPointer()
	return getCreatureAtPos(getxyz())
end

function GetBackpack(unit)
    for k,v in pairs(unit.inventory) do
       
        if df.item_backpackst:is_instance(v.item) then
            return v.item
        end
    end
end
function AddBackpackItems(backpack,items)
    if backpack then
        local bitems=dfhack.items.getContainedItems(backpack)
        for k,v in pairs(bitems) do
            table.insert(items,v)
        end
    end
end
function GetItemsAtPos(pos)
    local ret={}
    for k,v in pairs(df.global.world.items.all) do
        if v.flags.on_ground and v.pos.x==pos.x and v.pos.y==pos.y and v.pos.z==pos.z then
            table.insert(ret,v)
        end
    end
    return ret
end
function isAnyOfEquipable(item)
    for k,v in pairs(permited_equips) do
        if k:is_instance(item) then
            return true
        end
    end
    return false
end
function FilterByEquipable(items)
    local ret={}
    for k,v in pairs(items) do
        if isAnyOfEquipable(v) then
            table.insert(ret,v)
        end
    end
    return ret
end
function FilterBySize(items,race_id) --TODO add logic for compatible races
    local ret={}
    for k,v in pairs(items) do
        if v.maker_race==race_id then
            table.insert(ret,v)
        end
    end
    return ret
end


function getLastJobLink()
    local st=df.global.world.job_list
    while st.next~=nil do
        st=st.next
    end
    return st
end
function AddNewJob(job)
    local nn=getLastJobLink()
    local nl=df.job_list_link:new()
    nl.prev=nn
    nn.next=nl
    nl.item=job
    job.list_link=nl
end
function MakeDig(unit,pos,job_type)
    local nj=df.job:new()
    nj.id=df.global.job_next_id
    df.global.job_next_id=df.global.job_next_id+1
    nj.flags.special=true
    nj.job_type=job_type
    nj.completion_timer=-1
    nj.unk4a=12
    nj.unk4b=0
    nj.pos:assign(pos)
    nj.general_refs:insert("#",{new=df.general_ref_unit_workerst,unit_id=unit.id})
    
    AddNewJob(nj)
    unit.job.current_job=nj
    pos.x=pos.x-1
    unit.path.dest:assign(pos)
end

function getItemAtPos(x,y,z) -- gets the item index @ x,y,z coord
	--local x,y,z=getxyz() --get 'X' coords
	local vector=df.global.world.items.all -- load all items
	for i = 0, #vector-1 do -- look into all items offsets
		local curpos=vector[i].pos --get its coordinates
		local cx=curpos.x 
		local cy=curpos.y
		local cz=curpos.z
		if cx==x and cy==y and cz==z then --compare them
			return vector[i] --return index
		end
	end
	--print("item not found!")
	return nil
	
end


--local companions=??
local orders={
{name="move",f=function (unit_list,pos)
    if not CheckCursor(pos) then
        return false
    end
    for k,v in pairs(unit_list) do
        v.path.dest:assign(pos)
    end

    return true
end},
{name="channel",f=function(unit_list,pos)
    if not CheckCursor(pos) then
        return false
    end
    for k,unit in pairs(unit_list) do
        MakeDig(unit,pos,df.job_type.FellTree)
    end
    return true
end},
{name="equip",f=function (unit_list)
    --search in inventory(hands/backpack/ground) and equip everything
    --lot's of stuff to think: layering, which item goes where, which goes first, which body parts are missing, body sizes etc...
    --dfhack.items.moveToInventory(item,unit,use_mode,body_part)
    for k,unit in pairs(unit_list) do
        local items=GetItemsAtPos(unit.pos)
        --todo make a table join function or sth... submit it to the lua list!
        AddBackpackItems(GetBackpack(unit),items)
        items=FilterByEquipable(items)
        FilterBySize(items,unit.race) 
        local body_parts=EnumBodyEquipable(unit.race,unit.caste)
        ReadCurrentEquiped(body_parts,unit)
        for it_num,item in pairs(items) do
            AddIfFits(body_parts,unit,item)
        end
    end
end},
{name="pick-up",f=function (unit_list)
    --pick everything up (first into hands (if empty) then backpack (if have and has space?))
    for k,v in pairs(unit_list) do
        local items=GetItemsAtPos(v.pos)
        local grasps=EnumEmptyGrasps(v)
        -- TODO sort with weapon/shield on top of list!
        --add to grasps, then add to backpack (sanely? i.e. weapons/shields into hands then stuff)
        --or add to backpack if have, only then check grasps (faster equiping)
        while #grasps >0 and #items>0 do 
            if(dfhack.items.moveToInventory(items[#items],v,1,grasps[#grasps])) then
                table.remove(grasps)
            end
            table.remove(items)
        end
        local backpack=GetBackpack(v)
        if backpack then
            while #items>0 do
                dfhack.items.moveToContainer(items[#items],backpack)
                table.remove(items)
            end
        end
    end
    return true
end},
{name="unequip",f=function (unit_list)
    --remove and drop all the stuff (todo maybe a gui too?)
    for k,v in pairs(unit_list) do
        while #v.inventory ~=0 do
            dfhack.items.moveToGround(v.inventory[0].item,v.pos)
        end
    end
    return true
end},
{name="unwield",f=function (unit_list)
    
    for k,v in pairs(unit_list) do
        local wep_count=0
        for _,it in pairs(v.inventory) do
            if it.mode==1 then
                wep_count=wep_count+1
            end
        end
        for i=1,wep_count do
            for _,it in pairs(v.inventory) do
                if it.mode==1 then
                    dfhack.items.moveToGround(it.item,v.pos)
                    break
                end
            end    
        end
    end
    return true
end},
--[=[
{name="roam not working :<",f=function (unit_list,pos,dist) --does not work
    if not CheckCursor(pos) then
        return false
    end
    dist=dist or 5
    for k,v in pairs(unit_list) do
        v.idle_area:assign(pos)
        v.idle_area_threshold=dist
    end
    return true
end},
--]=]
{name="wait",f=function (unit_list)
    for k,v in pairs(unit_list) do
        v.relations.group_leader_id=-1
    end
    return true
end},
{name="follow",f=function (unit_list)
    local adv=df.global.world.units.active[0]
    for k,v in pairs(unit_list) do
        v.relations.group_leader_id=adv.id
    end
    return true
end},
{name="leave",f=function (unit_list)
    local adv=df.global.world.units.active[0]
    local t_nem=dfhack.units.getNemesis(adv)
    for k,v in pairs(unit_list) do
        
        v.relations.group_leader_id=-1
        local u_nem=dfhack.units.getNemesis(v)
        if u_nem then
            u_nem.group_leader_id=-1
        end
        if t_nem and u_nem then
            for k,v in pairs(t_nem.companions) do
                if v==u_nem.id then
                    t_nem.companions:erase(k)
                    break
                end
            end
        end
    end
    return true
end},
{name="Grab",f=function (unit_list)
 for k,v in pairs(unit_list) do
	if tofollow==nil then
		tofollow=df.global.world.units.active[0]
	end
	if unit==nil then
		print=("no one is selected")
	end
 v.relations.following=tofollow
 v.relations.dragger_id=tofollow.id
 v.relations.draggee_id=v.id
 v.relations.unk_238=8
 tofollow.relations.draggee_id=v.id
 --[[unit.relations.following=tofollow
 v.relations.unk_258=tofollow.id
 v.relations.unk_238=8
 tofollow.relations.unk_254=v.id]]--
 end
     return true
end},
{name="Let go",f=function (unit_list)
 for k,v in pairs(unit_list) do
	if tofollow==nil then
		tofollow=df.global.world.units.active[0]
	end
	if unit==nil then
		print=("no one is selected")
	end
 v.relations.following=nil
 v.relations.dragger_id=-1
 v.relations.draggee_id=-1
 v.relations.unk_238=-1
 tofollow.relations.draggee_id=-1
 end
     return true
end},
{name="Patch up",f=function (unit_list)
 for k,v in pairs(unit_list) do 
	unit=v
    unit.body.wounds:resize(0) -- memory leak here :/
	unit.body.blood_count=unit.body.blood_max
	--set flags for standing and grasping...
	unit.status2.limbs_stand_max=4
	unit.status2.limbs_stand_count=4
	unit.status2.limbs_grasp_max=4
	unit.status2.limbs_grasp_count=4
	--should also set temperatures, and flags for breath etc...
	unit.flags1.dead=false
	unit.flags2.calculated_bodyparts=false
	unit.flags2.calculated_nerves=false
	unit.flags2.circulatory_spray=false
	unit.flags2.vision_good=true
	unit.flags2.vision_damaged=false
	unit.flags2.vision_missing=false
	unit.counters.winded=0
	unit.counters.unconscious=0
	for k,v in pairs(unit.body.components) do
		for kk,vv in pairs(v) do
			if k == 'body_part_status' then v[kk].whole = 0  else v[kk] = 0 end
		end
	end end
    return true

end},
{name="Power up",f=function (unit_list)
 for k,d in pairs(unit_list) do 
 	if d.civ_id==adv then
  utils = require 'utils'
  labor_rating = 15
  military_rating = 70
  
  skill = { 0,2,3,4,5,6,7,8,9,10,11,12,13,14,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,41,42,43,44,45,46,47,48,49,54,55,57,58,59,60,61,62,63,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,95,96,97,98,99,100,101,102,103,104,105,109,110,111,112,113,114,115 }
  military = { 38,39,41,42,43,44,45,46,54,99,100,101,102,103,104,105 }

  for sk,sv in ipairs(skill) do
    new_rating = labor_rating
    for _,v in ipairs(military) do
      if v == sv then
        new_rating = military_rating
      end
    end
    utils.insert_or_update(d.status.current_soul.skills, { new = true, id = sv, rating = new_rating, experience = (new_rating * 500) + (new_rating * (new_rating - 1)) * 50}, 'id')
  end
  
  for sk,sv in ipairs(d.status.current_soul.skills) do
    printall(sv)
  end
end
end
return true
end},
{name="Get in",f=function (unit_list,pos)
    if not CheckCursor(pos) then
        return false
    end
	adv=df.global.world.units.active[0]
	item=getItemAtPos(getxyz())
	print=(item.id)
    for k,v in pairs(unit_list) do
        v.riding_item_id=item.id
        local ref=df.general_ref_unit_riderst:new()
        ref.unit_id=v.id
        item.general_refs:insert("#",ref)
	end
	return true
end},
{name="Shove in",f=function (unit_list,pos)
 unit=getCreatureAtPos(getxyz())
 item=getItemAtPos(getxyz())

for a,b in ipairs(df.global.world.items.all) do for c,d in ipairs(b.general_refs) do end end
local u_ref=df.general_ref_contains_unitst:new()
u_ref.unit_id=unit.id
item.general_refs:insert(#item.general_refs,u_ref)

local u_cr_ref=df.general_ref_contained_in_itemst:new()
unit.flags1.caged=true
u_cr_ref.item_id=item.id
item.general_refs:insert(#general_refs,u_cr_ref)
	return true
end},
{name="Gain Party",f=function (unit_list,pos)
	if not CheckCursor(pos) then
        return false
    end
	unit=getCreatureAtPos(getxyz())
	trgunit=df.global.world.units.active[0]

	unit.relations.group_leader_id=trgunit.id
	local u_nem=dfhack.units.getNemesis(unit)
	local t_nem=dfhack.units.getNemesis(trgunit)
	if u_nem then
		u_nem.group_leader_id=t_nem.id
	end
	if t_nem and u_nem then
		t_nem.companions:insert(#t_nem.companions,u_nem.id)
	end
	return true
end},

{name="Travel Party",f=function ()
	for k,v in pairs(df.global.world.nemesis.all) do
	if v.id==df.global.world.units.active[0].id then
	pause=getline()
	df.global.world.world_data.travel[0].members:insert("#",{new=true,nemesis_id=v.id})
	return true
	end
	end
end}, 
{name="Switch",f=function ()
	if nemesis==nil then
		nemesis=true --default value is nemesis switch too.
	end
	if unit==nil then
		unit= getCreatureAtPointer()
	end
	if unit==nil then
		error("Invalid unit!")
	end
	local other=df.global.world.units.active
	local unit_indx
	for k,v in pairs(other) do
		if v==unit then
			unit_indx=k
			break
		end
	end
	if unit_indx==nil then
		error("Unit not found in array?!") --should not happen
	end
	other[unit_indx]=other[0]
	other[0]=unit
	if nemesis then --basicly copied from advtools plugin...
		local nem=dfhack.units.getNemesis(unit)
		local other_nem=dfhack.units.getNemesis(other[unit_indx])
		if other_nem then
			other_nem.flags[0]=false
			other_nem.flags[1]=true
		end
		if nem then
			nem.flags[0]=true
			nem.flags[2]=true
			for k,v in pairs(df.global.world.nemesis.all) do
				if v.id==nem.id then
					df.global.ui_advmode.player_id=k
				end
			end
		else
			qerror("Current unit does not have nemesis record, further working not guaranteed")
		end
	end
end},
{name="set as worker",f=function ()
  if nemesis==nil then
		nemesis=true --default value is nemesis switch too.
	end
	if unit==nil then
		unit= getCreatureAtPointer()
	end
	if unit==nil then
		error("Invalid unit!")
	end
	local other=df.global.world.units.active
	local unit_indx
	for k,v in pairs(other) do
		if v==unit then
			unit_indx=k
			break
		end
	end
	if unit_indx==nil then
		error("Unit not found in array?!") --should not happen
	end
	other[unit_indx]=other[2]
	other[2]=unit
	if nemesis then --basicly copied from advtools plugin...
		local nem=dfhack.units.getNemesis(unit)
		local other_nem=dfhack.units.getNemesis(other[unit_indx])
		if other_nem then
			other_nem.flags[0]=false
			other_nem.flags[1]=true
		end
		if nem then
			nem.flags[0]=true
			nem.flags[2]=true
			for k,v in pairs(df.global.world.nemesis.all) do
				if v.id==nem.id then
					df.global.ui_advmode.player_id=k
				end
			end
		else
			qerror("Current unit does not have nemesis record, further working not guaranteed")
		end
	end
end},
{name="Attack",f=function (unit_list,pos)
	if not CheckCursor(pos) then
        return false
    end
	local targ=getCreatureAtPos(getxyz())
	--unit_list.job.hunt_target=targ
	targ.job.hunt_target=unit_list
	return true
end},
}
local cheats={
{name="Patch up",f=function (unit_list)
    local dft=require("plugins.dfusion.tools")
    for k,v in pairs(unit_list) do 
        dft.healunit(v)
 	end
	return true
end},
{name="Power up",f=function (unit_list)
    local dft=require("plugins.dfusion.tools")
    for k,d in pairs(unit_list) do 
        dft.powerup(d)
    end
    return true
end},
{name="get in",f=function (unit_list,pos)
    if not CheckCursor(pos) then
        return false
    end
	adv=df.global.world.units.active[0]
	item=getItemsAtPos(getxyz())[1]
	print(item.id)
    for k,v in pairs(unit_list) do
        v.riding_item_id=item.id
        local ref=df.general_ref_unit_riderst:new()
        ref.unit_id=v.id
        item.general_refs:insert("#",ref)
	end
	return true
end},
}
--[[ todo: add cheats...]]--
function getCompanions(unit)
    unit=unit or df.global.world.units.active[0]
    local t_nem=dfhack.units.getNemesis(unit)
    if t_nem==nil then
        qerror("Invalid unit! No nemesis record")
    end
    local ret={}
    for k,v in pairs(t_nem.companions) do
        local u=df.nemesis_record.find(v)
        if u.unit then
            table.insert(ret,u.unit)
        end
    end
    return ret
end


CompanionUi=defclass(CompanionUi,gui.FramedScreen)
CompanionUi.ATTRS{
    frame_title = "Companions",
}
function CompanionUi:init(args)
    self.unit_list=args.unit_list
    self.selected={}
    for i=0,26 do
        self.selected[i]=true
    end
end
function CompanionUi:GetSelectedUnits()
    local ret={}
    for k,v in pairs(self.unit_list) do
        if self.selected[k] then
            table.insert(ret,v)
        end
    end
    return ret
end
function CompanionUi:onInput(keys)

   
    if keys.LEAVESCREEN then
        self:dismiss()
    elseif keys._STRING then
        local s=keys._STRING
        if s==string.byte('*') then
            local v=self.selected[1] or false
            for i=0,26 do
                
                self.selected[i]=not v
            end
        end
        if s>=string.byte('a') and s<=string.byte('z') then
            local idx=s-string.byte('a')+1
            if self.selected[idx] then 
                self.selected[idx]=false
            else
                self.selected[idx]=true
            end
        end
        if s>=string.byte('A') and s<=string.byte('Z') then
            local idx=s-string.byte('A')+1
            if orders[idx] and orders[idx].f then
                if orders[idx].f(self:GetSelectedUnits(),cursor) then
                    self:dismiss()
                end
            end
            if is_cheat then
                idx=idx-#orders
                if cheats[idx] and cheats[idx].f then
                    if cheats[idx].f(self:GetSelectedUnits(),cursor) then
                        self:dismiss()
                    end
                end
            end
        end
    end
end
function CompanionUi:onRenderBody( dc)
    --list widget goes here...
    local char_a=string.byte('a')-1
    dc:newline(1):string("*. All")
    for k,v in ipairs(self.unit_list) do
        if self.selected[k] then
            dc:pen(COLOR_GREEN)
        else
            dc:pen(COLOR_GREY)
        end
        dc:newline(1):string(string.char(k+char_a)..". "):string(dfhack.TranslateName(v.name));
    end
    dc:pen(COLOR_GREY)
    local w,h=self:getWindowSize()
    local char_A=string.byte('A')-1
    for k,v in ipairs(orders) do
        dc:seek(w/2,k):string(string.char(k+char_A)..". "):string(v.name);
    end
    if is_cheat then
        for k,v in ipairs(cheats) do
            dc:seek(w/2,k+#orders):string(string.char(k+#orders+char_A)..". "):string(v.name);
        end
    end
end
local screen=CompanionUi{unit_list=getCompanions()}
screen:show()