diff --git a/lib/sdf/sensor.rb b/lib/sdf/sensor.rb
index 139e808..6308baa 100644
--- a/lib/sdf/sensor.rb
+++ b/lib/sdf/sensor.rb
@@ -23,7 +23,7 @@ def each_direct_plugin(&block)
         end
 
         def each_plugin
-            xml.elements.each do |plugin_xml|
+            xml.elements.to_a("plugin").each do |plugin_xml|
                 yield(Plugin.new(plugin_xml, self))
             end
         end
diff --git a/test/test_sensor.rb b/test/test_sensor.rb
index d22ff02..91ab2bb 100644
--- a/test/test_sensor.rb
+++ b/test/test_sensor.rb
@@ -34,6 +34,10 @@ module SDF
                 root = SDF::Sensor.new(REXML::Document.new("<sensor />").root)
                 assert root.enum_for(:each_plugin).to_a.empty?
             end
+            it "does not yield non-plugin children" do
+                root = SDF::Sensor.new(REXML::Document.new("<sensor><pose /></sensor>").root)
+                assert root.enum_for(:each_plugin).to_a.empty?
+            end
             it "yields the plugins otherwise" do
                 root = SDF::Sensor.new(REXML::Document.new("<sensor><plugin name=\"0\" /><plugin name=\"1\" /></sensor>").root)