Actually this one I believe will be added by our development team. Your URL's are they related post types ?
Meaning as you go further into the URL the are related through a Post relationship ?
If so then this is something that would need to be added using custom code. As we are essentially building out the URL's based on WordPress's standard URL structure design.
As suspected you will need to use custom code to achieve this. Achieving this falls outside of the scope of our support forum and what our plugins can do natively.
Essentially what you will need to do is to construct the URL by writing some custom code to pick up the relationship data. So when a new page is being loaded it checks if the post is in a relationship and then prepends the URL with the relationship information.