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This can be done with BALL's StructureMapper First, map the two systems onto each other can be done using the StructureMapper.
StructureMapper
After successful mapping, the RMSD can be easily computed calling its function calculateRMSD().
calculateRMSD()
{{{ #!python
a = getSystems()[0] b = getSystems()[1]
sm = StructureMapper(a, b)
print "Pre-Match RMSD: ", sm.calculateRMSD()
rmsd = RMSDMinimizer.minimizeRMSD(a, b)
getMainControl().updateRepresentationsOf(b)
print "Matched RMSD:", rmsd }}}