Let $I = (f_1,...,f_m) \subset k[x_1,...,x_n]$ be a prime ideal where $k$ is an algebrically closed field and let $V = \text{Spec}(k[x_1,...,x_n]/I)$ be the corresponding algebraic variety. If we take any $p \in V$, we can define the Jacobian matrix $$J_p = \begin{pmatrix}\frac{\partial f_i}{\partial x_j}(p)\end{pmatrix}.$$ The Jacobian criterion tells us that $V$ is smooth at $p$ if and only if $\text{rk}(J_p) = n - \dim V$. Certainly, if $rk(J_p) < n - \dim V$ then $p$ is singular.
However, is there a way of using the Jacobian matrix to tell what type of singularity $p$ is if $p$ was to be a singular point? In particular, can we tell if $p$ is a nodal singularity or not using the Jacobian matrix? By definition $p$ is nodal if and only if $\hat{\mathcal{O}}_{V,p} \cong k[[x,y]]/(xy)$ but this completion might be hard to compute if $I$ was complicated.
But even for a simple example $V:y^2 - x^2 - x^3$, is there a way of using the partial derivatives to tell that $V$ the singularity at the origin is nodal? If there is such a criterion, a explanation or a link to a reference would be appreciated.