I have joint angles of a robot [17x1 vector]. I have 500 such data points making it a matrix JointMAtrix =[500x17]. I am kind of confused on how should I be normalizing it?

1. Should I be normalizing it across every single data, like for ex: normalize it across JointMAtrix,Joint1.... normalize it across Joint17 (this is row-wise)
2. Should I be normalizing it across the entire sample data set under column Joint1 (this is column wise), across entire sample data set under columnJoint2

I am not able to make sense of normalization here.