Something is keeping the clutch from releasing. I'd suggest avoiding trying to get it in gear again since that burning smell is more likely burning the friction surfaces on the synchronizer rings, and if those go bad it's major money to rebuild the transaxle. You say the pedal firmness feels normal - it sounds as if for some reason the clutch disk is stuck to the flywheel or pressure plate, since bad hydraulics would feel much softer, and a bad pressure plate might actually feel harder or notchy. Perhaps a bolt wasn't torqued correctly and backed out or something fairly simple (but still difficult to get to since the transaxle has to come out.)