What makes a person fully developed and morally upright individual?

Fully developed people can think for themselves, and make their own decisions informed on their own morality. Being morally upright means, essentially, that you live your live according to the general good. Morality is defined personally in terms of good and bad, but there are some social norms that define it for the society as well. Morally upright people will acknowledge and live according to these social norms.