diff --git a/libs/bt/include/psemek/bt/condition.hpp b/libs/bt/include/psemek/bt/condition.hpp
index 8e01d211..f1003e6f 100644
--- a/libs/bt/include/psemek/bt/condition.hpp
+++ b/libs/bt/include/psemek/bt/condition.hpp
@@ -5,11 +5,11 @@
 namespace psemek::bt
 {
 
-	template <typename Tree>
-	struct condition;
+	template <typename Tree, typename ConditionFn>
+	struct condition_node;
 
-	template <typename Time, typename Event, typename ... Args>
-	struct condition<tree<Time, Event, Args...>>
+	template <typename Time, typename Event, typename ... Args, typename ConditionFn>
+	struct condition_node<tree<Time, Event, Args...>, ConditionFn>
 		: node<tree<Time, Event, Args...>>
 	{
 		using tree_type = tree<Time, Event, Args...>;
@@ -17,12 +17,23 @@ namespace psemek::bt
 		using typename node_type::finished;
 		using typename node_type::status;
 
+		condition_node(ConditionFn && condition_fn)
+			: condition_fn_(std::move(condition_fn))
+		{}
+
 		status update(Time, Args ... args) override
 		{
-			return finished{check(args...)};
+			return finished{condition_fn_(args...)};
 		}
 
-		virtual bool check(Args ... args) = 0;
+	private:
+		ConditionFn condition_fn_;
 	};
 
+	template <typename Tree, typename ConditionFn>
+	node_ptr<Tree> condition(ConditionFn && condition_fn)
+	{
+		return std::make_unique<condition_node<Tree, ConditionFn>>(std::move(condition_fn));
+	}
+
 }