What legal issues when collaborating with developers from other corporations?

I can't figure out what to even call the type of training I think I need to successfully google it.

Let's say companies A and B work together, afterward A may say B was exposed to, accessed, or benefited, or stole A's intellectual property, trade secrets, etc. If the development isn't managed well, the two companies may end up both having intellectual property claims to something newly produced.

Obviously there are legal issues that need to be understood to avoid problems when software developers from different companies have to closely collaborate.

Should HR provide training on this? Are there courses online?