Adjective for someone who knows his/her limits

I am looking for adjectives for describing a person who knows his/her limits, what he/she is capable of and what not, knows their weak and strong points.

I know this sounds like a simple question, but I, as a non-English speaking person, just can’t think of good adjectives for it. I could think of wise, clear-minded, etc. but I am not happy with what I came up with.

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