2000 Toyota Corolla Engine cuts out till reved out or drive

I start the car up, runs fine. Step on gas to drive away, it starts but then bogs out as if its going to die. Then I put the clutch in and rev it, then it seems to clear it out and it works fine. Other then when I start off if I floor the gas it doesn't have as much pickup then if I bring the pedal out a little. The engine light is on and the garage says it gives a emissions sensor code.