diff --git a/lib/sdf/link.rb b/lib/sdf/link.rb
index a9a7689..0c4f273 100644
--- a/lib/sdf/link.rb
+++ b/lib/sdf/link.rb
@@ -14,10 +14,17 @@ def initialize(xml, parent = nil)
         # Enumerates this link's sensors
         #
         # @yieldparam [Sensor] sensor
-        def each_sensor(&block)
+        def each_direct_sensor(&block)
             @sensors.each(&block)
         end
 
+        # Enumerates this link's sensors
+        #
+        # @yieldparam [Sensor] sensor
+        def each_sensor(&block)
+            each_direct_sensor(&block)
+        end
+
         # The model's pose w.r.t. its parent
         #
         # @return [Array<Float>]