The standard convex closed hull of a set is defined as the intersection of all images, under the action of a group of rigid motions, of a half-space containing the given set. In this paper we propose a generalisation of this classical notion, that we call a $(K,\mathbb{H})$-hull, and which is obtained from the above construction by replacing a half-space with some other convex closed subset $K$ of the Euclidean space, and a group of rigid motions by a subset $\mathbb{H}$ of the group of invertible affine transformations. The main focus is put on the analysis of $(K,\mathbb{H})$-convex hulls of random samples from $K$.