If you're judicious, you've got a good head on your shoulders and make good decisions. Humpty Dumpty's decision to sit on a wall? NOT judicious.
As its sound implies, judicious comes from the same Latin word from which we get judge and judiciary, and not surprisingly a judicious decision is one that only comes after all sides have been weighed up and opposing points of view taken into consideration. Judicious decisions are never split-second decisions.