sākṣāt kṛta dharmāṇa ṛṣayo babhūvuḥ te avarebhyo asākṣāt kṛta dharmabhya upadeśena mantrānt samprāduḥ Upadeśāya glāyanto.avare bilma grahanāya imam grantham samāmnāsiṣur vedaṃsa va veda aṅgāni ca
The Rishis are the one who had direct vision of the truth. For the sake of the inferior people who were not endowed with the vision, they gave these mantras as teachings. This is the Veda and Vedangas.
What is the meaning of "mantra" here? I mean which mantra, vedic mantras or other mantra the are non vedic?
And is this verse saying that vedic mantras are authored by humans(enlightened rishies).