[Newton] Fixes ncollision error message for Ant and Humanoid manager-based environments

[kellyguo11]

Description

Matching the manager-based configs with the direct environment solver configs for mujoco ant and humanoid environments to avoid the ncollision overflow error.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there