def METHOD_NAME(self):
    z, angle = self.sim.data.qpos[1:3]
    min_z, max_z = self._healthy_z_range
    min_angle, max_angle = self._healthy_angle_range
    healthy_z = min_z < z < max_z
    healthy_angle = min_angle < angle < max_angle
    METHOD_NAME = healthy_z and healthy_angle
    return METHOD_NAME