Which musical art form typically includes a combination of singing, drama, orchestral music, costumes, stage sets, and sometimes dance?

An oratorio is a large musical composition for orchestra, choir, and soloists, but it is primarily a concert piece without staging, costumes, or dramatic action. Unlike opera, oratorios focus solely on the musical narrative, typically based on religious themes, and lack the theatrical elements that define operatic performances.

A cantata is a vocal composition with instrumental accompaniment, often consisting of several movements but is generally performed in concert settings. While it may include dramatic elements, it lacks the full theatrical production aspects, such as costumes and staging, that characterize opera.

A concerto is a musical composition typically written for a solo instrument accompanied by an orchestra. It emphasizes instrumental performance rather than including singing, drama, or theatrical elements, making it unsuitable as an answer to the question posed.

A madrigal is a type of vocal music composition, often written for several voices, that is usually unaccompanied and does not include dramatic elements or theatrical production. It focuses on intricate vocal harmonies and lyrical themes but lacks the broader elements associated with opera.