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The test came after five rounds of the Six-Party Talks, which China hosted between 2003 and 2005.
The talks involving China, the DPRK, the United States, the Republic of Korea, Russia and Japan stalled last November after Pyongyang criticized Washington for imposing economic sanctions.
China calls on all parties to stick to consultation and dialogue and seek a peaceful solution of the nuclear issue, Liu said. He reiterated China's opposition against the nuclearization of the Korean Peninsula. "This stance has not changed."
Liu admitted that the nuclear test would undoubtedly "exert a negative impact" on ties with the DPRK.
But he said China would continue to develop good-neighbourly and friendly co-operation with the DPRK and this policy is "unshakable."
"In dealing with the bilateral ties, we stick to two principles: First, they should serve the common interests of both sides; second, they should be conducive to peace, stability and development of Korean Peninsula and Northeast Asia," Liu said.
He urged the DPRK to stop taking any action that may worsen the current situation.
He added that the humanitarian needs of the DPRK people should be taken into full consideration when any action is taken.
He also said that China has kept a close eye on the aftermath of the nuclear test, but so far no atmospheric pollution has been detected.