Fix typo in rbda.rst

[xela-95]

Just a typo I found when skimming through the documentation.

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📚 Documentation preview 📚: https://jaxsim--145.org.readthedocs.build//145/

[xela-95]

I've noted also a error in rendering of Latex code in the following lines:

jaxsim/src/jaxsim/api/data.py

Lines 420 to 421 in 8dc5c8c

	:math:`\\mathbf{q} = ({}^W \\mathbf{H}_B, \\mathbf{s}) \\in \text{SO}(3) \times \\mathbb{R}^n`.

and

jaxsim/src/jaxsim/api/data.py

Lines 432 to 433 in 8dc5c8c

	:math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\\, \boldsymbol{\\omega}_{W,B};\\, \\mathbf{s}) \\in \\mathbb{R}^{6+n}`

but I don't know how to fix them.

[flferretti]

Thanks a lot @xela-95, I'll add a commit to this PR to fix the latex

[flferretti]

LGTM, I'll just wait for the docs CI to complete to check the output

[flferretti]

It looks fixed, thanks a lot again!

Merging