Hello,

Please navigate to Settings > Permalink

1. You can add the category and post name choosing custom permalink http://prntscr.com/k6wdpq

2. You will also find the available options for product URL settings: http://prntscr.com/k6wdpq

You can use the custom field in both cases to configure URL as per your needs.

Please find here more information https://codex.wordpress.org/Using_Permalinks

Best Regards