SELECT 
  SQL_CALC_FOUND_ROWS (
    CASE WHEN products.parent_product_id <> 0 THEN products.parent_product_id ELSE products.product_id END
  ) AS product_id, 
  descr1.product as product, 
  companies.company as company_name, 
  MIN(
    IF(
      prices.percentage_discount = 0, 
      prices.price, 
      prices.price - (
        prices.price * prices.percentage_discount
      )/ 100
    )
  ) as price, 
  GROUP_CONCAT(
    products.product_id 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS product_ids, 
  GROUP_CONCAT(
    products.product_type 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS product_types, 
  GROUP_CONCAT(
    products.parent_product_id 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS parent_product_ids, 
  products.product_type, 
  products.parent_product_id, 
  descr1.full_description as full_description 
FROM 
  cscart_products as products 
  LEFT JOIN cscart_product_descriptions as descr1 ON descr1.product_id = products.product_id 
  AND descr1.lang_code = 'en' 
  LEFT JOIN cscart_product_prices as prices ON prices.product_id = products.product_id 
  AND prices.lower_limit = 1 
  LEFT JOIN cscart_product_prices as prices_2 ON prices.product_id = prices_2.product_id 
  AND prices_2.lower_limit = 1 
  AND prices_2.price < prices.price 
  AND prices_2.usergroup_id IN (0, 0, 1) 
  LEFT JOIN cscart_companies AS companies ON companies.company_id = products.company_id 
  INNER JOIN cscart_products_categories as products_categories ON products_categories.product_id = products.product_id 
  INNER JOIN cscart_categories ON cscart_categories.category_id = products_categories.category_id 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A', 'H') 
  AND cscart_categories.storefront_id IN (0, 1) 
WHERE 
  1 
  AND products.product_id NOT IN (217) 
  AND companies.status IN ('A') 
  AND prices.price >= 580.44 
  AND prices.price <= 641.54 
  AND (
    products.usergroup_ids = '' 
    OR FIND_IN_SET(0, products.usergroup_ids) 
    OR FIND_IN_SET(1, products.usergroup_ids)
  ) 
  AND products.status IN ('A') 
  AND prices.usergroup_id IN (0, 0, 1) 
  AND prices_2.price IS NULL 
  AND products.company_id IN('1', '2', '3', '4', '5', '6') 
  AND products.product_type != 'D' 
GROUP BY 
  product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  0, 3

Query time 0.00967

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "44.30"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": true,
        "buffer_result": {
          "using_temporary_table": true,
          "nested_loop": [
            {
              "table": {
                "table_name": "companies",
                "access_type": "ALL",
                "possible_keys": [
                  "PRIMARY"
                ],
                "rows_examined_per_scan": 6,
                "rows_produced_per_join": 1,
                "filtered": "16.67",
                "cost_info": {
                  "read_cost": "3.27",
                  "eval_cost": "0.20",
                  "prefix_cost": "3.47",
                  "data_read_per_join": "7K"
                },
                "used_columns": [
                  "company_id",
                  "status",
                  "company"
                ],
                "attached_condition": "((`atulecarter_atul_demo1`.`companies`.`status` = 'A') and (`atulecarter_atul_demo1`.`companies`.`company_id` in ('1','2','3','4','5','6')))"
              }
            },
            {
              "table": {
                "table_name": "cscart_categories",
                "access_type": "ALL",
                "possible_keys": [
                  "PRIMARY",
                  "c_status",
                  "p_category_id"
                ],
                "rows_examined_per_scan": 86,
                "rows_produced_per_join": 3,
                "filtered": "4.00",
                "using_join_buffer": "Block Nested Loop",
                "cost_info": {
                  "read_cost": "20.01",
                  "eval_cost": "0.69",
                  "prefix_cost": "24.16",
                  "data_read_per_join": "8K"
                },
                "used_columns": [
                  "category_id",
                  "storefront_id",
                  "usergroup_ids",
                  "status"
                ],
                "attached_condition": "(((`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids`)) and (`atulecarter_atul_demo1`.`cscart_categories`.`status` in ('A','H')) and (`atulecarter_atul_demo1`.`cscart_categories`.`storefront_id` in (0,1)))"
              }
            },
            {
              "table": {
                "table_name": "products_categories",
                "access_type": "ref",
                "possible_keys": [
                  "PRIMARY",
                  "pt"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "category_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.cscart_categories.category_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 10,
                "filtered": "100.00",
                "using_index": true,
                "cost_info": {
                  "read_cost": "3.63",
                  "eval_cost": "2.06",
                  "prefix_cost": "29.85",
                  "data_read_per_join": "165"
                },
                "used_columns": [
                  "product_id",
                  "category_id"
                ],
                "attached_condition": "(`atulecarter_atul_demo1`.`products_categories`.`product_id` <> 217)"
              }
            },
            {
              "table": {
                "table_name": "products",
                "access_type": "eq_ref",
                "possible_keys": [
                  "PRIMARY",
                  "status"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id"
                ],
                "rows_examined_per_scan": 1,
                "rows_produced_per_join": 0,
                "filtered": "5.00",
                "cost_info": {
                  "read_cost": "10.32",
                  "eval_cost": "0.10",
                  "prefix_cost": "42.24",
                  "data_read_per_join": "2K"
                },
                "used_columns": [
                  "product_id",
                  "product_type",
                  "status",
                  "company_id",
                  "usergroup_ids",
                  "parent_product_id"
                ],
                "attached_condition": "((`atulecarter_atul_demo1`.`products`.`company_id` = `atulecarter_atul_demo1`.`companies`.`company_id`) and ((`atulecarter_atul_demo1`.`products`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo1`.`products`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo1`.`products`.`usergroup_ids`)) and (`atulecarter_atul_demo1`.`products`.`status` = 'A') and (`atulecarter_atul_demo1`.`products`.`product_type` <> 'D'))"
              }
            },
            {
              "table": {
                "table_name": "prices",
                "access_type": "ref",
                "possible_keys": [
                  "usergroup",
                  "product_id",
                  "lower_limit",
                  "usergroup_id"
                ],
                "key": "usergroup",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 0,
                "filtered": "3.26",
                "index_condition": "((`atulecarter_atul_demo1`.`prices`.`lower_limit` = 1) and (`atulecarter_atul_demo1`.`prices`.`usergroup_id` in (0,0,1)))",
                "cost_info": {
                  "read_cost": "1.56",
                  "eval_cost": "0.01",
                  "prefix_cost": "44.10",
                  "data_read_per_join": "1"
                },
                "used_columns": [
                  "product_id",
                  "price",
                  "percentage_discount",
                  "lower_limit",
                  "usergroup_id"
                ],
                "attached_condition": "((`atulecarter_atul_demo1`.`prices`.`price` >= 580.44) and (`atulecarter_atul_demo1`.`prices`.`price` <= 641.54))"
              }
            },
            {
              "table": {
                "table_name": "prices_2",
                "access_type": "ref",
                "possible_keys": [
                  "usergroup",
                  "product_id",
                  "lower_limit",
                  "usergroup_id"
                ],
                "key": "usergroup",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 0,
                "filtered": "9.74",
                "not_exists": true,
                "cost_info": {
                  "read_cost": "0.15",
                  "eval_cost": "0.00",
                  "prefix_cost": "44.29",
                  "data_read_per_join": "0"
                },
                "used_columns": [
                  "product_id",
                  "price",
                  "lower_limit",
                  "usergroup_id"
                ],
                "attached_condition": "(<if>(found_match(prices_2), isnull(`atulecarter_atul_demo1`.`prices_2`.`price`), true) and <if>(is_not_null_compl(prices_2), ((`atulecarter_atul_demo1`.`prices_2`.`lower_limit` = 1) and (`atulecarter_atul_demo1`.`prices_2`.`price` < `atulecarter_atul_demo1`.`prices`.`price`) and (`atulecarter_atul_demo1`.`prices_2`.`usergroup_id` in (0,0,1))), true))"
              }
            },
            {
              "table": {
                "table_name": "descr1",
                "access_type": "eq_ref",
                "possible_keys": [
                  "PRIMARY",
                  "product_id"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "product_id",
                  "lang_code"
                ],
                "key_length": "9",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id",
                  "const"
                ],
                "rows_examined_per_scan": 1,
                "rows_produced_per_join": 0,
                "filtered": "100.00",
                "cost_info": {
                  "read_cost": "0.01",
                  "eval_cost": "0.00",
                  "prefix_cost": "44.30",
                  "data_read_per_join": "68"
                },
                "used_columns": [
                  "product_id",
                  "lang_code",
                  "product",
                  "full_description"
                ]
              }
            }
          ]
        }
      }
    }
  }
}

Result

product_id product company_name price product_ids product_types parent_product_ids product_type parent_product_id full_description
23 5.1 Channel Blu-ray 3D Home Theater System CS-Cart 599.99000000 23 P 0 P 0 <p> Whether you are viewing a premium-quality 2D picture or seeing incredible 3D depth, images are breathtakingly real in Samsung Full HD. Combine with a 3D TV and 3D active shutter glasses to view the latest Hollywood 3D titles or amplify your viewing experience by upconverting 2D content to immersive 3D. </p>
59 AVH-P4400BH CS-Cart 599.00000000 59 P 0 P 0 <p>The AVH-P4400BH DVD multimedia receiver features a 7" motorized touchscreen display, built-in Bluetooth&reg; for hands-free calling and audio streaming, and an HD Radio&trade; tuner. The newly updated and innovative user interface makes direct operation of the unit stress-free by eliminating complicated layered selection displays, so access to desired functions is smoother and simpler than ever. A variety of multimedia options ensures that you will be properly entertained. Customizable audio and video functions make it easy to suit your mood.</p>
73 DROID BIONIC CS-Cart 589.99000000 73 P 0 P 0 <p>With a ferociously fast Verizon Wireless 4G LTE network and dual-core 1 GHz processor, DROID BIONIC is the master of all Droids. And with ZumoCast&trade; by Motorola, nothing is beyond your digital reach. The free app lets you pull your music, movies, pictures and documents from your computer like a digital telepath - instantly and wirelessly. That's right, DROID BIONIC is so powerful, it can control your connected devices and extract their precious content, remotely, at 4G LTE speed. That makes it not only the master of all Droids, but the master of machines.<br /><br />Key Features:<br /> Our free Zumocast&trade; app lets you stream content 24/7 and in real time from your computer <br /> 4G LTE speeds up to 10x faster than 3G to stream movies, watch TV and video chat <br /> Crisp text, vivid imagery and brilliant color delivered in 4.3-inch high res qHD <br /> Doubles as a 4G LTE mobile hotspot for up to 5 Wi-Fi enabled devices <br /> Dual-core 1GHz processor and 1GB RAM <br /> Webtop app transforms your phone; surf the web, run apps and take calls - all at the same time <br />In The Box:<br /> DROID BIONIC phone<br />HW4X Standard Battery<br /> Standard Battery Door<br />Travel Charger<br />Micro USB Data cable<br /> User Guide</p>