I know this vehicle as a Yaris; 1NZ-FE engine, and that is the vehicle I am commenting on.
Toyota does not mention a specific procedure for an idle relearn in their official service information.
Even the procedure for throttle body replacement does not mention a relearn procedure. The info does not state that a procedure is not needed, it is silent on the subject. Experience has taught that when service info does not mention a relearn the PCM performs this task without intervention. Self learn is normal and has become the routine for most PCM relearns for throttles, crankshafts, camshafts, evaporative purge amounts, individual cylinder fuel control and others. Most of these are done with software based on neural network type algorithms.
For a standard idle relearn with no OEM specified procedure the best method is to drive the vehicle for a time with lots of stop and start cycles. This usually resolves idle irregularities. If not try, the next method.
Professional techs learn some tips and workarounds. One of them is this, to reset a PCM that is not performing as expected remove both battery terminals touch them together for at least thirty seconds. This can, but does not always resolve a problem. It is a last resort procedure because it resets all the memories in every computer in the vehicle so be prepared to reset everything. Make sure to have the radio security code. On a luxury vehicles this often requires owner input to reset owner preferences.
If this does not work seek professional diagnostic help.
A short term subscription for Toyota tech info is available here https://techinfo.toyota.com. This is available in the US, I do not know if such is available elsewhere. This material is copyrighted so I will not copy it here.