Generate URL custom type post, category and post WordPress

There are several types of posts: audio, video, book, as well as categories that are the same for everyone: category1, category2, etc. When creating a specific type of post, a category is selected. But in the end, the url is generated: site.com/post type/post name, but you need: site.com/post type/category/post name It is also necessary to display the archive when navigating by url: site.com/post type/category (specific category) and url: site.com/post type (archive of all categories of this type of post)