Name of a sequence of moves in martial arts?

What is the name of a fixed sequence of moves used in training of martial arts?

Precisely, used in training, not in actual combat, as both parties know exactly what is to come and follow a fixed routine, a sequence they both know - attack, defense, counter-attack and so on, to learn to execute the moves correctly, as opposed to actually fighting or reacting to unexpected moves of the opponent.

The word you're looking for is kata.

In Taekwon-Do the sequences known as Kata in Japanese are called Patterns or Tul (as TKD terminology is in Korean).

But I don't think either Tul or Kata are generally practised with an opponent: In TKD that is called Fixed Sparring or Banjayo Matsoki.

Although not necessarily pertaining to the question, Dave Thomas of Pragmatic Programming also uses this term as a technique to practice programming.

http://codekata.pragprog.com/2007/01/code_kata_backg.html#more