Graf ruled Robinson could wear non-jail clothes but would remain restrained for safety reasons.
An 80-page transcript from that hearing, with minor redactions, is expected to be released by the end of Monday local time, the Salt Lake Tribune reported.
Audio recordings are due to be made public within two weeks.
Robinson, accused of fatally shooting Kirk on September 10 while he was speaking at the first stop of his “Prove Me Wrong” university campus tour.
Kirk was struck in the neck by a single bullet.
Robinson faces multiple charges, including aggravated murder, felony discharge of a firearm, obstruction and witness tampering.
The aggravated murder charge carries the possibility of the death penalty.
He has not yet entered a plea.
Robinson appeared in person in court in Provo, Utah, earlier this month, where the judge heard arguments over whether media should be allowed to broadcast proceedings.
His lawyers opposed cameras, saying coverage could prejudice jurors.
The Utah County Sheriff’s Office also supported a ban.
Kirk’s widow, Erika Kirk, backed a broadcast, calling for transparency and saying it would help counter conspiracy theories about her husband’s death, the New York Post reported.
Robinson is set to return to court on January 16 when the judge is also expected to hear a defence motion seeking the recusal of a prosecutor whose relative was present at the time of Kirk’s killing, Fox News said.
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