$G_2$-metrics arising from non-integrable special Lagrangian fibrations

We study special Lagrangian fibrations of $\mathrm{SU}(3)$-manifolds, not necessarily torsion-free. In the case where the fiber is a unimodular Lie group $G$, we decompose such $\mathrm{SU}(3)$-structures into triples of solder 1-forms, connection 1-forms and equivariant $3\times3$ positive-definite symmetric matrix-valued functions on principal $G$-bundles over 3-manifolds. As applications, we describe regular parts of $G_2$-manifolds that admit Lagrangian-type 3-dimensional group actions by constrained dynamical systems on the spaces of the triples in the cases of $G=\mathrm{T}^3$ and $\mathrm{SO}(3)$.