In addition to providing North Korea with an opportunity to test missiles, Russia has taken steps that will make it harder for the United Nations to monitor sanctions imposed on Pyongyang in 2006.
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North Korea and Iran have long been suspected of cooperating on ballistic missile programs, possibly exchanging technical expertise and components that went into their manufacture.
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It flew about 600 km (372 miles) before falling into sea, South Korea said, while Japan's defense ministry estimated it covered a distance of 650 km (400 miles).
Russia vetoed the annual renewal of a panel of experts monitoring enforcement of longstanding United Nations sanctions against North Korea over its nuclear weapons and ballistic missile programs.
The meetings come as Pyongyang seeks to expand its diplomatic engagement after COVID-19 lockdowns.
Additional representatives from China and North Korea met in the same period of time.
N. Korea conducted a flight test of an intermediate-range hypersonic missile which it said at the time used a new solid-fuel engine and also tested the operation of a maneuverable warhead.