a condition, demand, or promise in an agreement or contract.
the act of stipulating.

1545–55; < Latin stipulātiōn- (stem of stipulātiō). See stipulate1, -ion

nonstipulation, noun
restipulation, noun Unabridged
Based on the Random House Dictionary, © Random House, Inc. 2014.
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World English Dictionary
stipulate1 (ˈstɪpjʊˌleɪt)
vb (foll by for)
1.  (tr; may take a clause as object) to specify, often as a condition of an agreement
2.  to insist (on) as a term of an agreement
3.  Roman law to make (an oral contract) in the form of question and answer necessary to render it legally valid
4.  (tr; may take a clause as object) to guarantee or promise
[C17: from Latin stipulārī, probably from Old Latin stipulus firm, but perhaps from stipula a stalk, from the convention of breaking a straw to ratify a promise]

Collins English Dictionary - Complete & Unabridged 10th Edition
2009 © William Collins Sons & Co. Ltd. 1979, 1986 © HarperCollins
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Word Origin & History

1552, "engagement or undertaking to do something," from L. stipulationem (nom. stipulatio), from stipulari "exact a promise." Traditionally said to be from L. stipula "straw," in ref. 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.
Online Etymology Dictionary, © 2010 Douglas Harper
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Example sentences
The only stipulation was that the flag should keep flying.
Its zero retention stipulation requires that any shark caught accidently by
  fishing vessels must be set free.
The lower rate wireless plans will come with the usual stipulation of agreeing
  to a two-year contract.
The race was decided in one-mile heats with the stipulation that one rider must
  take two heats to be declared the winner.
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