In a way, this is like saying who created math or physics. These are tools used as a language to be able to discuss and measure things that are already existing, but the actual equations are based on universal law of what is already existing. Like we did not create gravity, but we created a language to use to measure and calculate it.
The yoga and meditations are also based on universal laws of physics, which are already existing in nature. And these are just a way to work with these laws, work with these forces, and use them to help ourselves. So it is more like these are a knowledge that was discovered more than created.
These were shared with humanity directly by the gods themselves. The gods discovered this knowledge by their own learning and experimentation and advamcement, and they have shared these with humanity.