Thanks for your enquiry.
You can't personally be held responsible for any claim the Housing Assoc have against your Father. If your Father had left monies in his Estate, any claim to clear the mess would need to be paid by his Estate, but as no monies were left, they can't "get blood out of a stone". Of course, it would be reasonable for you to clear the property, and to make sure you have retained all the personal possessions you wish to keep, but there is no legal obligation on you to do this.
I hope this answers your question and sets out the legal position.
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