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I just answered your support ticket with this question and I am pasting the answer here as well for anyone else having the same query.
Here is an example that shows how you can use jQuery to traverse the DOM in order to get the element that you want to focus:
<ol>
<li>click the button</li>
<li>press enter to expand the color picker</li>
</ol>
<asp:Button Text=
"focus color picker"
ID=
"testBtn"
OnClientClick=
"focusColorPicker(); return false;"
runat=
"server"
/>
<telerik:RadColorPicker runat=
"rcp1"
RenderMode=
"Lightweight"
ShowIcon=
"true"
></telerik:RadColorPicker>
<script>
function
focusColorPicker() {
//see more on referencing controls on the client here https://docs.telerik.com/devtools/aspnet-ajax/general-information/get-client-side-reference
$telerik.$(
"[id^='rcp1']"
).find(
".rcpIcon a"
).first().focus();
}
</script>