Nearly parallel $G_2$-structures with large symmetry group

We prove the existence of a one-parameter family of nearly parallel $G_2$-structures on the manifold $S^3\times \mathbb R^4$, which are mutually non isomorphic and invariant under the cohomogeneity one action of the group $SU(2)^3$. This family connects the two locally homogeneous nearly parallel $G_2$-structures which are induced by the homogeneous ones on the sphere $S^7$.