Any stock from a 181-up Mini-14 or Mini-30 will fit your 581.
If you end up with a Mini-30 stock, you may notice a bit of a gap at the magazine well. It won't show once you get your trigger group in, and will not affect the accuracy/functioning of the rifle.
Also be aware that you will need a stock reinforcement (Stainless, Blued), 2 screws (Stainless, Blued), and 2 star washers (All Models) for your wood stock. You can also order these parts from Brownell's, Numrich Gun Parts, or direct from Ruger.
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