Changing URL of Topics to make it more precise

Hello, Is there any way to change URL, to something like,

www.website.com/category1/1
www.website.com/category1/2
www.website.com/category1/3

and same for every other category

www.website.com/category2/1
www.website.com/category2/2
www.website.com/category2/3

at the moment what i am seeing on my website is
www.website.com/t/topic/3321

No, that is not possible.

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