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 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 , 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 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 , 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. <EOS>