Palindromic richness for languages invariant under more symmetries

For a given finite group $G$ consisting of morphisms and antimorphisms of a free monoid $\mathcal{A}^*$, we study infinite words with language closed under the group $G$. We focus on the notion of $G$-richness which describes words rich in generalized palindromic factors, i.e., in factors $w$ satisfying $\Theta(w) = w$ for some antimorphism $\Theta \in G$. We give several equivalent descriptions which are generalizations of know characterizations of rich words (in the terms of classical palindromes) and show two examples of $G$-rich words.