The jamming transition of non-spherical particles is fundamentally different from the spherical case. Non-spherical particles are hypostatic at their jamming points, while isostaticity is ensured in the case of the jamming of spherical particles. This structural difference implies that the presence of asphericity affects the critical exponents related to the contact number and the vibrational density of states. Moreover, while the force and gap distributions of isostatic jamming present power-law behaviors, even an infinitesimal asphericity is enough to smooth out these singularities. In a recent work (Brito et al 2018 Proc. Natl Acad. Sci. 115 11736-41), we have used a combination of marginal stability arguments and the replica method to explain these observations. We argued that systems with internal degrees of freedom, like the rotations in ellipsoids, or the variation of the radii in the case of the breathing particles fall in the same universality class. In this paper, we review comprehensively the results about the jamming with internal degrees of freedom in addition to the translational degrees of freedom. We use a variational argument to derive the critical exponents of the contact number, shear modulus, and the characteristic frequencies of the density of states. Moreover, we present additional numerical data supporting the theoretical results, which were not shown in the previous work.