UCSF Chimera (https://www.cgl.ucsf.edu/chimera/) is another molecular visualization tool with built-in capabilities to calculate RMSD between two ligands. After loading both ligands into Chimera, you can use the 'matchmaker' or 'match' command to calculate RMSD:
match #0 #1
-Replace #0 and #1 with the model numbers of your ligands in Chimera.