When driving, air is flowing around the catalytic converter, and carrying away excess heat. When any modern car is idling, there is no air flowing around the catalytic converter. The converter gets very very hot. It could scorch the paint on the underside of the car (even with the heat shield). It might overheat the carpet and pad. Owners manuals say do not allow the engine to idle for long periods of time. This is the reason. The smell should go away. To pull up the carpet, to look for scorch marks is very difficult. There is probably no permanent damage to your car, but don't let it idle for long periods of time, even in Winter.
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