def stcubic_eval(coeffs, t):
    """
    Input: iterable coeffs = (p0,p1,p2,p3)
    Output: p3*t**3 + p2*t**2 + p1*t + p0
    """
    p0, p1, p2, p3 = coeffs
    return p3 * t ** 3 + p2 * t ** 2 + p1 * t + p0