If you have replaced the battery or cleared any DTC codes your readiness monitors will be incomplete and your won't pass inspection till you drive it a bunch. Most all of them readiness monitors will clear quickly but the catalyst and the evap emissions system have two very specific drive cycle patterns to get them to complete.
Normally this isn't much of a problem because most states allows TWO incomplete monitors, but several states have recently lowered it to only ONE incomplete monitor on 2001 and above models.
Here is a link to the Toyota TSB on how to drive your car to get the monitors to complete quickly. TSB EG003-02
I tried driving around town and the highway for over 200 miles and couldn't get those two to clear/complete but after following the TSB I had both cleared in less that an hour.