However, Taylor believes that he and his teammates worked on a lot of things that will stand them in good stead for their Premier League campaign.
He told the club's official website: "The game itself was poor from us - it wasn't good enough. However, it's early in pre-season for us and it's a transition period for us and the club.
"We've worked very hard in the last two weeks and we've got out of the week what we wanted to. We've tried new things tactically, and we've made progress on that.
"We will now travel back, play the five domestic friendly games and hit the ground running when we return home. Overall, it was a good trip for the club."
Swansea face Manchester United in their season opener on August 16.