high Idle

I have an 03 Impala 3.8 with 130K that is idling high, the check engine light is on with o2 senor code, I unplugged the o2 senor and no idle change, sprayed some carb cleaner around the vacuum lines no idle change, anyone have any ideas? Thanks

I understood the idle was all done by the TPS and MAP sencor and it was set at the factory and ya cant get at it to adjust , Bruce..