Cohomogeneity one Einstein-Sasaki 5-manifolds

We consider hypersurfaces in Einstein-Sasaki 5-manifolds which are tangent to the characteristic vector field. We introduce evolution equations that can be used to reconstruct the 5-dimensional metric from such a hypersurface, analogous to the (nearly) hypo and half-flat evolution equations in higher dimensions. We use these equations to classify Einstein-Sasaki 5-manifolds of cohomogeneity one.