Permalink with hierarchy of Custom Post Types

We have a site where we have the following structure:

www.example.com/volume-number/book-title/chapter-title

We do this hierarchy by creating the Chapter pages as child of a Book page, which in turn is child of a Volume page.

Now we are moving to using Custom Post Types with the CPT UI plugin.

Upon creating a Chapter CPT, the URL displays as follows:

www.example.com/chapter/chapter-title

Is there a recommended way to recreate that same hierarchy above when using CPTs?

Thanks!