是的，您可以在创建自定义帖子类型时使用rewrite参数：

register_post_type( \'example_type\',
      array(
          \'labels\' => array(
              \'name\' => "Example-Type",
              \'singular_name\' => "example-type"
          ),
          \'public\' => true,
          \'has_archive\' => true,
          \'rewrite\' => array(\'slug\' => \'the-url-you-want\',
      )
  );
}

编辑：

function custom_post_link( $post_link, $id = 0 ){
    $post = get_post($id);  
    if ( is_object( $post ) ){
        $terms = wp_get_object_terms( $post->ID, \'category\' );
        if( $terms ){
            return str_replace( \'%category%\' , $terms[0]->slug , $post_link );
        }
    }
    return $post_link;  
}
add_filter( \'post_type_link\', \'custom_post_link\', 1, 3 );