1550s, "a commitment or activity to do something" (now obsolete), from Latin stipulationem (nominative stipulatio), noun of action from past participle stem of stipulari "exact a promise, engage, bargain," of uncertain origin. Traditionally said to be from Latin stipula "stalk, straw" (see stipule) in reference to some obscure symbolic act; this is rejected by most authorities, who, however, have not come up with a better guess. Meaning "act of specifying one of the terms of a contract or agreement" is recorded from 1750. Meaning "that which is stipulated or agreed upon" is from 1802.