A method for engaging and disengaging a surgical instrument of a surgical robotic system, the method comprising: receiving a plurality of interlock inputs from one or more interlock detection components (206, 208, 210, 212, 214, 216, 218, 220, 222, 226) of the surgical robotic system, wherein the surgical robotic system comprises a user console having a display, one or more user interface devices for controlling the surgical instrument, and a chair; determining (304, 308, 310), by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: a user is looking toward the display; the one or more user interface devices of the surgical robotic system are configured in a usable manner; and a surgical workspace of the surgical robotic system is configured in a usable manner, wherein at least one of the plurality of interlock inputs indicating the surgical workspace of the surgical robotic system is configured in a usable manner comprises a transport sensor configured to detect the user console is not in a transportation configuration; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode in which the surgical instrument is controlled by one or more of the user interface devices; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode such that the one or more user interface devices is prevented from controlling the surgical instrument. receiving a plurality of interlock inputs from one or more interlock detection components (206, 208, 210, 212, 214, 216, 218, 220, 222, 226) of the surgical robotic system, wherein the surgical robotic system comprises a user console having a display, one or more user interface devices for controlling the surgical instrument, and a chair; determining (304, 308, 310), by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: a user is looking toward the display; the one or more user interface devices of the surgical robotic system are configured in a usable manner; and a surgical workspace of the surgical robotic system is configured in a usable manner, wherein at least one of the plurality of interlock inputs indicating the surgical workspace of the surgical robotic system is configured in a usable manner comprises a transport sensor configured to detect the user console is not in a transportation configuration; a user is looking toward the display; the one or more user interface devices of the surgical robotic system are configured in a usable manner; and a surgical workspace of the surgical robotic system is configured in a usable manner, wherein at least one of the plurality of interlock inputs indicating the surgical workspace of the surgical robotic system is configured in a usable manner comprises a transport sensor configured to detect the user console is not in a transportation configuration; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode in which the surgical instrument is controlled by one or more of the user interface devices; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode such that the one or more user interface devices is prevented from controlling the surgical instrument.