def METHOD_NAME(Stheta):
    r"""Left Jacobian of SE(3).
    .. math::
        \boldsymbol{\mathcal{J}}
        =
        \left(
        \begin{array}{cc}
        \boldsymbol{J} & \boldsymbol{0}\\
        \boldsymbol{Q} & \boldsymbol{J}
        \end{array}
        \right),
    where :math:`\boldsymbol{J}` is the left Jacobian of SO(3) and
    :math:`\boldsymbol{Q}` is given by Barfoot and Furgale (see reference
    below).
    Parameters
    ----------
    Stheta : array-like, shape (6,)
        Exponential coordinates of transformation:
        S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta,
        where S is the screw axis, the first 3 components are related to
        rotation and the last 3 components are related to translation.
        Theta is the rotation angle and h * theta the translation.
    Returns
    -------
    J : array, shape (6, 6)
        Jacobian of SE(3).
    References
    ----------
    Barfoot, Furgale: Associating Uncertainty With Three-Dimensional Poses for
    Use in Estimation Problems,
    http://ncfrn.mcgill.ca/members/pubs/barfoot_tro14.pdf
    """
    Stheta = check_exponential_coordinates(Stheta)
    _, theta = screw_axis_from_exponential_coordinates(Stheta)
    if theta < np.finfo(float).eps:
        return left_jacobian_SE3_series(Stheta, 10)
    phi = Stheta[:3]
    J = left_jacobian_SO3(phi)
    return np.block([
        [J, np.zeros((3, 3))],
        [_Q(Stheta), J]
    ])