That's such a crock.
We make judgments everyday.....
That particular scripture that you are apparently referring to...gets messed up and misquoted all the time.
Used much by the left and the uninformed to turn a blind eye to inappropriate behavior, and life-styles.
The actual scripture was speaking to those that might be involved in the same exact thing they are judging someone else for.
It's perfectly fine to judge others..and to attempt to counsel them, help them. But NOT if you are doing the SAME THING THEY ARE.
And that, my friend, is exactly why God doesn't let you or any other person decide who gets to communicate with Him or who get into heaven.