Programmatically add posts add and assign postmeta and assign terms

The woocommerce product category is just a custom taxonomy. As far as I know all the data is stored as intended by wordpress core. You can find out more about the database structure at the codex page Database Description, the tables you are looking for are wp_terms, wp_term_relationships and wp_term_taxonomy.

But you absolutely should look into doing this with available wordpress functions, like wp_insert_post() and wp_set_object_terms, it will make your life easier. Do a research on »programmatically adding post/custom post types« and »programmatically assign tags/categories«, here on WPSE is more then enough information about that available. Besides that you really, really should read the woocommerce source thoroughly, to make sure you’re going to resemble all the steps creating a product correctly.

Btw you can ask WooCommerce questions at the official WooCommerce Q&A.

Note: it just did not want to fit into a comment

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