I think the roman had it a bit different : the minion or whore would be active while the guy was laying down. They even had suspended ropes or poles so the sex slave could use it to properly do its job.

I don’t remember what was bad for them, except for big penis being very shameful because too beasty.

I find roman and Greek very funny, because although they were extremely misogynistic, they had it all reversed compared to us. :D