Why, yes there was! In fact, the text that could be closest compared to the Kama Sutra is often credited as the 'forefather' of literary pornography.

First, I'd like to say that the Kama Sutra really isn't all about sex. In fact, it's more of a behavior guide, and a lifestyle guide on how a young man should life--what acts he should do with his wife, what acts with his mistress, as well as how he should behave in public and towards others. I'm not an expert on that, so you'd be best asking more or searching for more information on the Kama Sutra.

With that said, the closest example to the Karma Sutra as we Westerners normally understand it (lots of sex positions) is Pietro Aretino's I Modi. the I Modi were a set of 16 artistic renderings of sexual positions, that were conjoined with sonnets that Aretino wrote describing the positions and acts in the images.

Aretino was a hugely and I mean hugely famous literary celebrity in his time--one could argue that he was one of the first if not the first literary celebrity created by the printing press. Kings, popes, and other notables competed to be his sponsor. At one time he had Charles V of the Holy Roman Empire and Francis I of France competing with each other in sponsorship in order to have Aretino to write a sonnet denouncing the other one. Because of the sharpness of his wit and the massive popularity of his works he was known as the "Scourge of Princes."

So this brings us to I Modi... To really understand this work however, you have to take into account that pornography as we know it, was not the same thing to Aretino and his contemporaries. Erotic dialogue, or 'arentine' works as they were often called (after Aretino), was a literary method deliberately used for criticism of the politics, society, or (most often in the earliest days) the Church.

What inspired Aretino to write the sonnets to go with the 16 Pleasures was the hypocrisy of Pope Clement VII, who imprisoned the original creator of the pictures Marcantonio Raimondi . Aretino is quoted in one of his letters as saying that it was hypocritical of the pope to imprison Raimondi for prints that offended against the Bible while he, the Pope, offended against the Bible through engaging in politics and other shady dealings as a member of the Medici family.

So, yes, the I Modi are very much like the stereotypical understanding of the Kama Sutra as a set of sexual positions. However, they also functioned in their time as a criticism of the Catholic church and Pope Clement's actions and behaivor. In fact, the I Modi and Arentio's other work, the Ragionamenti (whore dialogues that criticized Church, politics, and the upper class) were the first books banned on the Catholic Index Librorum Prohibitorum. The result of this, was, of course, their immense popularity through Europe, and they set the standard or archetype for the next 300 years of literary pornography.