The jamming transition of nonspherical particles is fundamentally different from the spherical case. Systems of nonspherical particles are hypostatic at the jamming point, while isostaticity is ensured in the case of the jamming of spherical particles. This structural difference implies that critical exponents related to the contact number and the vibrational density of states are affected in the presence of an asphericity. Moreover, while the force and gap distributions of isostatic jamming present a power-law behavior, even an infinitesimal asphericity is enough to smooth out these singularities. In a recent work [PNAS 115(46), 11736], 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 the ellipsoids or spherocylinders 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 of nonspherical particles, use theoretical arguments to derive the critical exponents of the contact number, shear modulus, and the characteristic frequencies of the density of states which can be applied for any model having an extra degree of freedom in addition to translational degrees of freedom. Moreover, we present additional numerical data supporting the theoretical results which were not shown in the previous work.