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You have the config option mass_property_calculate set to automatic. This requires Pro/E to have a density for every part. If you change it to by_request it won't prompt for a density. Don't know if that is really better or not in your case.
There are quite a few versions & options in STEP, I don't know if it's possible but ideally the STEP file creator should include density info in the file.
I usually get the STEP files from manufacturer sites where they offer models as a service. I guess I could send them an E-mail suggesting that they incorporate mass properties.
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