Use uma regra com correspondência de UUID:
KERNEL=="sd??", ENV{ID_FS_UUID}=="<the_uuid>", RUN+="/bin/mkdir /tmp/folder1"
obtenha o UUID com o comando abaixo
udevadm info /dev/<usb_stick_partition> | grep ID_FS_UUID=
Exemplo
$ udevadm info /dev/sda1 | grep ID_FS_UUID=
E: ID_FS_UUID=c44a008d-58b2-467d-8814-f06973e49dcb
portanto
KERNEL=="sd??", ENV{ID_FS_UUID}=="c44a008d-58b2-467d-8814-f06973e49dcb", RUN+="/bin/mkdir /tmp/folder1"