[Plugin: WooCommerce] Woocommerce Pretty Permalinks

I am hoping to get some help with my permalink setup in woocommerce.

I typically use the ‘pretty’ permalink structure of /%postname%/, but this breaks my catalog setup and returns a 404 error. I have even tried combinations such as /%category%/%postname%/, /page/%postname%/etc. but nothing works.

When i set my permalinks to the WP default, the catalog works perfectly, but my other non-catalog pages, such as ‘Company Info’ and ‘Contact Us’ have the crappy permalink [hxxp://mysite.com/?p=123] which looks horrible and is even worse for SEO.

I would ultimately like my site structure as follows:
For my catalog: hxxp://mysite.com/mens/pants/bushmaster-cargo-pants (not too picky about this URL structure)
For my static pages: hxxp://mysite.com/company-profile (MUST have ‘pretty’ permalink)

I am using WP 3.2.1 (until the theme dev updates for 3.3 compatibility) and Woocommerce 1.3.2.1

I also have Yoast WordPress SEO v.1.1.2 and WooCommerce – All in One SEO Pack 1.1 installed.
Tried the ‘Canonical URL’ setting under the ‘Advanced’ tab in Yoast, still no luck.

Any help would be most appreciated. Have a great day.

https://www.ads-software.com/extend/plugins/woocommerce/