>In 1992, Dan Goldin became the NASA Administrator. Goldin believed in a philosophy of Faster… better… cheaper—i.e., he thought NASA could do more with less. Hence, Goldin did not support the idea of having large EOS platforms in space and in fact once referred to them as “Battlestar Galactica.” He believed smaller, less expensive missions that could be built more quickly were the way to go and supported development of new programs that actually diverted funds from EOS.
[1] https://eospso.nasa.gov/sites/default/files/eo_pdfs/Perspect...
In any case, this exact question was asked here, and the top-rated response indicates that it's unlikely that the design requirement was ever meant to refer to grabbing an uncooperative payload:
https://space.stackexchange.com/questions/41741/was-the-spac...