i have a 2001 r6 and my clutch makes a noise when the bike idles. but when i compress the clutch lever it goes away. it sounds kind of like the clutch is loose. any suggestions?

You probably need a clutch.

They can wear out 2 ways. Either the friction material looses its friction ability which happens after like 20k miles. Or the outer tangs of the friction plates wear down or wear the clutch basket or both. If it's just the plates themselves that wear you good, get a set of fibers and steels from the dealership and put it all together. If the basket is worn, you tell once you get the plates out of the clutch by running you fingers on the mating surface of the basket. If you can feel any groves you'll need a baskte. These cost some bucks so be forewarned.
If its just plates you're looking at $125 for parts. If you need a basket add an extra $125.

Do you run stock exhaust? Are you the 1st owner? Here are a few reasons why I ask. I left mine stock and while friends were going to the aftermarket and making some great new sounds I noticed how bad mine sounded. I thought I could here the valves, clutch... Than 1st hot summer day came and I knew it was the clutch. Seemed to grab, that nite (20 deg drop) it felt fine. One month later I met a guy with a day old R6, and after some talk we started them up, and than I switched mine off to hear his, before he got on to ride away. Do you know what! They sounded the same. So if you take care of your bike or the previouse owner did it my just be in your head and ears tuned to Microns or what ever. If you notice you have to slip the clutch more and more check it out!
BTW If you do a burnout figure that you just used 1/3 of its life