Polarized thermal emission finds extensive applications in remote sensing, landmine detection, and target detection. In applications such as ellipsometry and biomedical analysis, the generation of emission with controllable polarization is preferred. It is desired to manipulate the polarization state over the full Stokes parameters. While numerous studies have demonstrated either linear or circular polarization control using metamaterials, full-Stokes thermal emission has not been explored. Here, a microstructure based on two layers of silicon carbide gratings is proposed to tailor the polarization state of thermal emission, covering the full-Stokes parameter range. The bilayer twisted-gratings structure breaks mirror symmetry. Wave interference at the interfaces and diffraction by the gratings enhance the emission dichroism, resulting in almost completely polarized emission. By adjusting the twist angle between the gratings, the polarization state can be continuously tuned from linear to circular, nearly covering the entire surface of Poincaré sphere. This study provides a design for tailoring full-Stokes emission with notable advantages over other plasmonic metasurfaces.