What was lost when yogic practices were brought to the west is the cultural context that these practices arose from. This is why I think there is great practical wisdom in bringing back traditional Hindu culture in popular yoga. Most people, and most teachers, simply do not understand what was lost when the meditation practices were disconnected from the traditional life style. 

Some modern yoga teachers include many grounding exercises in their practices. Including visualizations like imagining roots growing out of your tailbone, or out of your feet. I'm just not aware of those being in ancient scriptures.