Former test opener Mark Richardson criticised Taylor for leaving the crease.
"You aren't going to pinch any singles," he said on commentary.
The dismissal meant that Taylor's potential resurrection didn't eventuate, and with Colin de Grandhomme falling shortly afterward to an ill-advised shot, the Black Caps were left in dire straits.
It wasn't the first time this series Taylor has been dismissed in freakish fashion, having fallen to a stunning catch in the first test in Wellington.
Kumara was again involved as the bowler, with Taylor flicking him off his pads. It flew at speed, but the man at short leg - Dimuth Karunaratne - took an incredible catch.
Fielding under the helmet, Karunaratne showed superb reflexes to first get his hands to the ball.
He parried the ball into the air, and as he stumbled backward, he snared the catch on the second attempt, being mobbed by his teammates.