@MaBe was asking about this recently as well.
I don't know of one that has actually been used, but for the App Loader I use https://github.com/davidshimjs/qrcodejs
In the source (https://github.com/davidshimjs/qrcodejs/blob/master/qrcode.js) it actually uses a QR code generator from https://github.com/kazuhikoarase/qrcode-generator which looks pretty compact and should work - the rest of the file is more or less just boilerplate
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