The front rotor just slides off after the caliper is removed:
If rotor doesnt slide off, then there is some corrosion build up between the rotor and hub face. Spray the center with some PB Blast or WD40 and allow to soak for awhile. Tap face of rotor with a dead blow hammer and rotor should pop off.
Most toyota factory rotors will have 2 threaded holes between the lugbolt holes on the rotor. You can thread in 8x1.25x 2" long bolts and alternate between the 2 bolts tightening a couple of turns at a time. The bolts hit the face of the hub and act as press to press rotor off