To what extent is the Dealer responsible for my brake problem.

I have a strange situation: my 2012 Hyundai Sonata hybrid with 45,000 miles
on it was just inspected and passed inspection yesterday in MA. Today, on
my way to work, I stepped on my brakes and they made a loud grinding noise
and began to stutter. This noise and shaking did not go away.  I drove back to
the dealer after work and they told me my rear brakes were "smoked" and
that the rotors and pads needed to be replaced (about $350 and very
inconvenient for me). ...but it was just inspected yesterday and it passed.  
They claim that they don't check the brakes during inspection. I find that hard
to believe. Anyway, to what extent is the dealer responsible for not noticing
that my brakes were shot when I brought it in for inspection OR is it possible
that the dealer caused this brake problem somehow. Thanks for you help!