Category hierarchy in permalinks

I have made a post, let’s call it desk. It can only appear in ONE category and ONE sub category in the permalink. So it would be logical to load it under furniture and sub category (child category) office as I believe that is the red thread going through this type of site. If I check several materials (child categories of category material) as sub categories as well, the permalink is automatically changed to material, sub category type of material. So I did not check type of material because I do not want this. But I also want to the desk to appear under materials as furniture can be made of a material like wood, plastic and so on. So how do we load furniture posts under parent category destination and material(s) wood,..,.. with the permalink keeping furniture and child category office furniture in it? How does a certain category take precedence in permalinks?