I prepared a project for you that meets this requirement. Basically, I iterate over the visual tree of the RadCoorPicker, find the RadColorSelector and then print the names of the colors from the MainPalette in the Output of VisualStudio. Note that you first have to open the RadColorPicker in order to load the RadColorSelector. Otherwise you won't be able to find it.
Please let us know if the solution satisfies you.
the Telerik team
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