[[2,3,5,6,7],
  [5,6,1,2,3]]

 [[0,1,2,3,4],
  [2,3,5,0,1]]

  
>>> def tr(lst):
...     d = {2: 0,
...          3: 1,
...          5: 2}
...     return [d.get(i, i) for i in lst]
... 
>>> lst = [[2, 3, 5, 6, 7],
...        [5, 6, 1, 2, 3]]
>>> 
>>> list(map(tr, lst))
[[0, 1, 2, 6, 7], [2, 6, 1, 0, 1]]
>>>