I don't think the 1581 Formatted Disks are readable on an Amiga Drive. If I remember correctly all CBM Formatted Disks for the Pet, Vic 20,C64 and C128 were in GCR format.
Standard Floppy Drives are normally in MFM format.
Sorry I threw out all my C64 reference Materials when I moved 5 years ago so can't quote an exact reference.
I think a Catweasel card may allow you to read the 1581 Format on a standard 3.5" FDD.
Jens Schoenfeld for Individual Computers would be able to answer.
Cheers
Shaf