To facilitate synchronization of a robot motion with a musical piece, a data conversion apparatus according to an aspect of the present invention includes an acquisition unit configured to acquire first time-series information for designating coordinates of a constituent component of a predetermined computer graphics (CG) model on a beat basis in time series, a control unit configured to detect a structural difference between the predetermined CG model and a predetermined robot based on the first time-series information, and a generation unit configured to correct the first time-series information based on the detected difference to generate second time-series information for designating coordinates of a constituent component of the predetermined robot on a beat basis in time series.