Bulk Rename Utility

So as the title states, I need to copy the filenames from one folder to another folder, I need to make sure the extensions stay the same for each file though.

Something like this
Folder01
2021-01-01_Pic001.jpg
2021-01-01_Pic002.jpg
2021-01-01_Pic003.jpg

Folder02
Picab01.raw
Picab02.raw
Picab02.raw

Folder02 (what it needs to end up saying)
2021-01-01_Pic001.raw
2021-01-01_Pic002.raw
2021-01-01_Pic003.raw

I hope that makes sense and I hope it's doable with BRU. Thanks!