Did it grind like this before clutch was serviced or replaced?
Did you keep the stock dual mass clutch set-up?
Did you replace all of the parts as a kit (flywheel, throw-out bearing, clutch disc, input shaft support bearing, slave cylinder) or some but not all?
I know these are more questions but this info would be good to know to make a sound diagnoses.
Right off the top, it sounds as though the clutch is not fully releasing which in turn is not allowing the syncros to line up for a proper smooth shift.