To elaborate a bit in @moody_blue’s correct answer, you will omit the condition. Choose an inline script for the action and select your language if choice. If you are not a programmer I recommend Blockly (if you don’t see that as an option install the JS Scripting add-on).
From there you’ll create a timer for XX sec. In the body of the timer you’ll have an if to see if your condition is true and do the work.
There are other approaches but this is probably the simplest.
If this rule is likely to trigger while the timer is running you might need to use a different approach.