def METHOD_NAME(self):
    z, angle = self.data.qpos[1:3]
    state = self.state_vector()[2:]
    min_state, max_state = self._healthy_state_range
    min_z, max_z = self._healthy_z_range
    min_angle, max_angle = self._healthy_angle_range
    healthy_state = np.all(np.logical_and(min_state < state, state < max_state))
    healthy_z = min_z < z < max_z
    healthy_angle = min_angle < angle < max_angle
    METHOD_NAME = all((healthy_state, healthy_z, healthy_angle))
    return METHOD_NAME