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Custom URL for multiple categories hierarchy

I belive it’s not a duplicate. None of "solutions" I found for similiar issues worked for me.

Let’s assume I have following hierarchy of wordpress post’s categories:

- Foo
    - Bar1
    - Bar2
    - Bar3

What’s more, I have 3 posts:

Hello World
    // belongs to category "Bar1"

Good Night World
    // belongs to category "Bar2"

Good Morning World
    // belongs to category "Bar3"

What I need

I’d like to have URLs to categories and posts as follows:

Posts Hello World, Good Night World, Good Morning World

example.com/foo/hello-world  
example.com/foo/good-night-world   
example.com/foo/good-morning-world

Category Foo

example.com/foo

Categories Bar1, Bar2, Bar3

example.com/foo/kategoria/bar1
example.com/foo/kategoria/bar2
example.com/foo/kategoria/bar3

What I’ve determined:

  1. To change the post’s URL (just a little bit, but in – I belive – a good direction), I can simply change Parmalinks setup in settings, to following custom one scheme:

/%category%/%postname%/

  1. To remove alias from category I can simply enter a dot (.) into category alias on, but it leaves me with:

example.com/foo/bar1

and I need to put word "kategoria" between "foo" and "bar1"

Thank you for any help