Does anybody know any classification of stable singularities of smooth map $f:\mathbb R^3\to \mathbb R^4$?

It is clear that there are singularities which look like intersection of 2 (or 3 or 4) hyperplanes in $\mathbb R^4$. But there are other ones.

Another type of stable singularity can be produced the following way: let $f$ maps $\mathbb R^3$ such way that for $x\in D^2$ $f(x)=f(-x)$ for $x\in \mathbb R^2, x=(x_1,x_2,0,0)$.