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You can't add density in asm file, because asm is consider to be build for components that have density.
I don't think you can change density of all parts at once, so you must open all parts, and change density manually.
Or you could create parameter CUSTOM_MASS, and parameter CUSTOM_DENSITY, put them in relation, use Volume parameter from analysis feature and calculate your massin your asm. This is work around but correct way is to change density in all parts, but if you don't have time to do that you might try with suggested method.
if you need this only for this assembly or for drawing, the way that Isair wrote(with these parameters for example)is enough
but if Your assembly will be used in another assembly as a component, well than Your assembly will has its original value of masswhich is count from components, so than You have to change these components material properties
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