Pedal is going to the floor and hard to put into gear.

Without more information it's going to be hard to answer the question. What exactly is the clutch pedal doing? Is it going straight to the floor and NOT coming back up? Is it going to the floor and coming back up but NOT letting the vehicle go into gear?

check that you have fluid in the master reservoir. Bleed air from the clutch system.

Check clutch cylinder please

Check the fluid in your slave cylinder. you have a master cylinder for the brakes and a slave cylinder for the clutch. It should have a screw on lid and if it's full, you probably need a new one.

Can be broken spring on the cluch pedal in side the car, that hold the pedal all the way back for full amount of brake fluid to the slave cylender, can be checked by pulling the pedal all the way up before steping it to the floor and putting in to gear or just look up under the daschbord on the pedal. Can allso be to little brake fluid in container. To check the master cylender rubber, step on the pedal putt in gear with engine running and wait with pedal all the way to the floor, if the rubber is gone the car wil start to go after some time (1/2-1 min or less) To check the slave cylender rubber will be dune the same way and working same way but it will be leaking out and on the floor.

You have a leak and will need to replace the clutch master and slave cylinders.

Did you bleed the slave cylinder? Also, check pedal free play (about 1/2 inch) and pedal height (not sure on your Rav, you'll have to check with Toyota).
Only first gear, or difficulty going into all gears?

the gears are sticking? is the shifter just really tight and hard to move from one gear to the next, or even just wiggle around in neutral? if so, you may need new bushings for it. which are not very expensive. IF the shifter wiggles around easily in neutral, but hangs in a gear when you press the clutch in all the way, you could need a clutch, OR hopefully you can just try bleeding the clutch line. at the master cylinder on the transmission. the breaks.... do you have to push the pedal down really hard, or really soft and far? if you're putting a lot of pressure on the pedal but you don't have to push the brake pedal all the way to the floor, that would indicate to me that your pads and rotors are glazed over. you should replace the rotors, pads and have the calipers checked, and have the brakes bled. if you've got to push the pedal all the way to the floor, there's a good chance all you'll need is to have the brakes bled.

Dose the clutch pedal drive in gear 1" from the floor OR 1"" from the top when you let it out. if its drives when almost out and there is a vibration on the pedal then the clutch needs replacing and it has nothing to do with the gear box or oil
But the gearbox has to come out before you put a new complete clutch in

I am dealing with a very similar issue on my 03 Spec V , So far i noticed the clevis pin was loose and the locking hitch pin that slips thru it had fallen out . this caused the gears to not wanna engage due to the bolt behind the clevis which runs to the master cylinder was not getting pressed in when i pushed the clutch pedal in because the clevis pin was slippin on n off giving me no pressure up top .. I had to remove my lower dash panel in order to get visual n hand access to this pin , it is a tight spot to work in as well . May be easist to remove the 4 14mm bolts that hold yur driver seat in to give ya more room to work n stretch out ur arms