There are 5 major factors that are indicative of normal and healthy poop:
The normal color is brown feces. Variations of the shades of brown are considered normal. Anything from light brown to dark brown is nothing to worry about. If your stools are getting darker, you may just need to get more liquids as typically that is nothing more than a sign of some dehydration. Sometimes stools can appear to have strange colors. That can be due to recently consumed foods or liquids, or digestive problems. Green poop is considered normal. Red or black poop can still be ok, but in some cases it can be due to bleeding somewhere along the digestive tract and in case of black poop (melena) higher up in the digestive tract.
The normal shape of poop is an elongated lump. It is sometimes referred to as the shape of a sausage. It should be easy to pass and should come out effortlessly. If it does not, try to avoid straining as it can lead to problems like hemorrhoids or weak blood vessels (Angiodysplasia).
The smell is feces is never pleasant. Different chemicals and foods can affect the smell. Some healthy vegetables can actually make stools smell quite bad and create the impression that something is wrong, but in reality it is probably healthy.
The texture of poop should not be too hard or too soft. It should be somewhere in the middle of the two. If stool is too hard, you should probably drink more water. If you are consuming a lot of alcohol, coffee, tea, or other caffeinated products, you may want to consider decreasing your consumption of those products which may contribute to your dehydration.
Bowel movement frequency is normal when it is 1-2 times per day, and 5-17 times per week. It is ok to skip a day, go over on the other end, but if the frequency of bowel movements stays out of the normal range, it can be due to a digestive problem that you may want to get diagnosed, or at least research further.
Frequency is one factor of stools that is more dependent on what is right for you and your body. If for many years you have had some frequency of defecations per week, then that is the normal amount for you since your body is more or less comfortable with that.
As mentioned earlier, what is considered to be normal is a loosely defined range of factors. Different people have different bodies that work in different ways. Your body is different from other people and if it has been doing something for years, which would be considered out of the normal range, that is probably how the balance is in your body. Watch for changes and accompanying symptoms. Most new changes and slight abnormalities get resolved on their own. In case you experience something new happening with your body, monitor this change and if the condition persists, you may want to seek diagnosis with help of a qualified healthcare professional like a doctor who specializes in gastro-intestinal issues.