Tacoma V6 clutch stays on the floor?

Your clutch is operated hydraulically, kind of like the brakes. You are having trouble with the hydraulics. There is a Master Cylinder and a Slave Cylinder -- equivelent parts to the brake master cylinder and the brake wheel cylinder.

My guess is your slave cylinder is toast. It is common that the master and slave are sold together, but I'm not certain if this is applicable to your Toyota.

There is a Return Spring that is attached to the clutch pedal, you could have a broken return spring.