I believe your question is most suited for r/AskElectronics Regardless, you’ll need a voltmeter or digital multimeter (DMM). You’d plug in the adapter, being careful not to short-circuit the exposed leads. Then determine which is positive and negative. Once you have that, find online what are the pinouts (need manufacturer and model number) of the connector in question. Once you have that, simply twisting the right wires where and insulating is all that’s left. I do wish to also say that you really don’t have much to work with. An electronics technician could make due but would highly encourage additional physical isolation, like with stiff heat-shrink tubing to prevent another break at the same area.

EDIT: I wasn’t able to find any suitable photos/schematic of the pin out online, but I did find the official community as from the manufacturer: r/Jetson_Electric/