Slug more specific

Hello everyone,

I have a question about the slug (permalinks).

I configured them like this: /%category%/%postname%/
and that actually works fine. However, I need my links to be more specific.

When I go to a subpage the link is good, like this:
website.com/about-us/contact

But when I click on a product (post) from a category page, it is like this:
website.com/products/my-product

That isn’t specific enough because it’s been posted in the category “products” but also a subcategory called “floors”. So I would like it to be like tihs:
website.com/products/floors/my-product

Does anyone know how I can achieve this? Hoping for help.