SELECT 
  SQL_CALC_FOUND_ROWS products.product_id, 
  descr1.product as product, 
  companies.company as company_name, 
  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_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 cscart_categories.category_id IN (
    166, 174, 175, 176, 177, 178, 179, 180, 
    181, 182, 199, 185, 186, 187, 188, 189, 
    190, 191, 194, 193, 195, 196, 197, 198, 
    200, 202, 234, 235, 236, 237, 238, 240, 
    254, 255, 263
  ) 
  AND companies.status IN ('A') 
  AND products.company_id = 1 
  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 products.company_id = 1 
  AND products.parent_product_id = 0 
  AND products.company_id IN('1', '2', '3', '4', '5', '6') 
  AND products.product_type != 'D' 
GROUP BY 
  products.product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  72, 12

Query time 0.00288

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "29.01"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": false,
        "nested_loop": [
          {
            "table": {
              "table_name": "companies",
              "access_type": "const",
              "possible_keys": [
                "PRIMARY"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "company_id"
              ],
              "key_length": "4",
              "ref": [
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 1,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "0.20",
                "prefix_cost": "0.00",
                "data_read_per_join": "7K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ]
            }
          },
          {
            "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": 1,
              "filtered": "1.63",
              "cost_info": {
                "read_cost": "20.36",
                "eval_cost": "0.28",
                "prefix_cost": "20.64",
                "data_read_per_join": "3K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`cscart_categories`.`category_id` in (166,174,175,176,177,178,179,180,181,182,199,185,186,187,188,189,190,191,194,193,195,196,197,198,200,202,234,235,236,237,238,240,254,255,263)) and ((`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": 4,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "1.48",
                "eval_cost": "0.84",
                "prefix_cost": "22.95",
                "data_read_per_join": "67"
              },
              "used_columns": [
                "product_id",
                "category_id"
              ]
            }
          },
          {
            "table": {
              "table_name": "products",
              "access_type": "eq_ref",
              "possible_keys": [
                "PRIMARY",
                "status",
                "idx_parent_product_id"
              ],
              "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": "8.52",
              "cost_info": {
                "read_cost": "4.20",
                "eval_cost": "0.07",
                "prefix_cost": "27.99",
                "data_read_per_join": "1K"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "usergroup_ids",
                "parent_product_id"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`products`.`parent_product_id` = 0) and (`atulecarter_atul_demo1`.`products`.`company_id` = 1) 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": "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": "0.36",
                "eval_cost": "0.07",
                "prefix_cost": "28.42",
                "data_read_per_join": "1K"
              },
              "used_columns": [
                "product_id",
                "lang_code",
                "product",
                "full_description"
              ]
            }
          },
          {
            "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": 1,
              "filtered": "97.36",
              "using_index": true,
              "cost_info": {
                "read_cost": "0.38",
                "eval_cost": "0.21",
                "prefix_cost": "29.02",
                "data_read_per_join": "25"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`prices`.`lower_limit` = 1) and (`atulecarter_atul_demo1`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          }
        ]
      }
    }
  }
}

Result

product_id product company_name product_type parent_product_id full_description
117 SCH-I515 CS-Cart P 0 <p>Galaxy Nexus is the world's first phone with a 4.65" high-definition Super AMOLED display, making text, photos, videos and games look crisp, vibrant and rich. With 1280x720 HD resolution, videos look amazing and the unique Contour Display curves nicely to the shape of your face and makes it easier to hold.</p>
113 SGH-I677 CS-Cart P 0 <p>The Samsung Focus Flash 4G mobile phone features Windows Phone 7.5 OS (Mango) and 4G speed for faster downloads and streaming. This 4G smartphone also includes a Super AMOLED touch screen for simple navigation of features, a rear-facing 5.0MP camera for still photos, a secondary front-facing camera for video chatting, and Bluetooth-compatibility for use with your favorite Bluetooth-enabled device. Plus, the Samsung Focus Flash 4G doubles as a mobile hotspot for up to 4 additional Wi-Fi enabled devices.</p>
157 Studio Monitor Headphones CS-Cart P 0 <p>Love at first listen. Striking yet comfortable studio monitor headphones with neodymium magnets deliver sounds even the most discerning of audiophiles will flip for.</p>
68 Titan CS-Cart P 0 <p>In the right hands, amazing things happen.<br /><br />Put emails in their place<br /> Combine your personal inboxes while keeping your work account separate.<br /><br />Plenty of room in the office<br /> Microsoft&reg; Office Mobile and multitasking on a huge <br /> 4.7" screen makes plenty of room for work, wherever you go.<br /><br />Focus on thoughts, not thumbs<br /> With such a spacious keypad, you can stop focusing on your fingers and start focusing on ideas.<br /><br />Expansive display, infinite possibility<br /> Whether you&rsquo;re taking care of business or taking a break from it all, you can see the big picture on the 4.7" LCD screen.<br /><br />Pocket-sized profile<br /> At 9.9mm, it&rsquo;s slim enough to fit comfortably in your pocket. But considering everything the HTC TITAN with Windows Phone is capable of, it won&rsquo;t be spending much time there.</p>
29 TomTom GO LIVE Top Gear edition CS-Cart P 0 <p>The TomTom GO LIVE Top Gear edition satnav! Featuring the voice of Jeremy Clarkson, plus a heap of Top Gear bonus goodies, this special edition satnav is the ultimate traffic- vanquishing weapon for the discerning driverist. With speed camera warnings, information via Local Search with Google&trade;, weather reports and more, it&rsquo;ll spirit you onto gloriously empty roads when all about you are stuck in jams. With the calming presence of Jeremy Clarkson himself by your side, what could possibly go wrong?</p>
6 Toshiba 32C120U 32" Class 720P HD LCD TV CS-Cart P 0 <p>Think you need to break your budget to enjoy blockbuster HD entertainment? Not with Toshiba's 32" class C110U LCD HDTV. Featuring all-new design, this value-packed television looks great and works well in a living room, kitchen or bedroom. Increase detail and depth of the images on your screen with our impressive Dynalight technology.</p>
8 Toshiba 32TL515U 32" Class 1080P 3D LED HD TV CS-Cart P 0 <p> Although its attractive features, design, and passive 3D have merit, the picture quality issues of the Toshiba TL515U LED-based LCD TV lessen its appeal in the face of the stiff competition. </p>
14 Toshiba 40E220U 40" Class 1080P HD LCD TV CS-Cart P 0 <p>Enjoy a stunning picture bursting with color and clarity with the 40-inch Toshiba 40E200U LCD HDTV (40-inch diagonal screen size), featuring a 1080p Full HD resolution that provides twice the pixel resolution of 720p HD models. It provides a number of convenient home entertainment options and key picture quality features, including DynaLight dynamic backlight control for deeper black levels and four HDMI digital inputs for simple high quality connection to cable/satellite boxes, DVD players and more. Plus, the HDMI ports feature fast InstaPort switching for quick changes from one source to another.&nbsp;<br /><br />DynaLight automatically adjusts the backlight intensity based on the image content.<br /><br /> With the Gaming Mode function, you'll experience reduced game control delay and improved reaction time--perfect for PC gaming--and the Photo Frame capability with Auto Slide Show enables you to display slideshows of your favorite images when not watching TV programming. <br /><br /> Boasting a slimming tapered bezel and attractive front panel gradation, the new Horizon design creates a more modern, elegant appearance that also adds a subtle luminance to the logo to further its stylish appeal. Other features include MP3 playback via the integrated USB port, a PC input, and a removable stand.</p>
9 Toshiba 42TL515U 42" Class 1080P 3D LED HD TV CS-Cart P 0 <p>Although its attractive features, design, and passive 3D have merit, the picture quality issues of the Toshiba TL515U LED-based LCD TV lessen its appeal in the face of the stiff competition.</p>
10 Toshiba 47TL515U 47" Class 1080P 3D LED HD TV CS-Cart P 0 <p>Although its attractive features, design, and passive 3D have merit, the picture quality issues of the Toshiba TL515U LED-based LCD TV lessen its appeal in the face of the stiff competition.</p>
19 Toshiba BDX2150 Blu-ray Player CS-Cart P 0 <p>Enjoy the clarity of Blu-ray and the convenience of streaming media with the Toshiba BDX2150 Blu-ray Disc player. Wi-Fi ready for clutter-free in-home connectivity (Wi-Fi adapter required, sold separately), this player lets you enjoy your favorite movies with stunning native 1080p Full HD output plus surround sound with Dolby audio enhancements. Internet connectivity enables you to take advantage of popular streaming services such as Blockbuster, Netflix*, CinemaNow, Pandora, Vudu and YouTube. In addition, BD-Live 2.0 technology allows you to access internet-only bonus material available on many Blu-ray titles. Offering both USB and HDMI with CEC ports, this player is equipped with the latest command and control functionality.</p>
21 Toshiba SD3300 DVD Player CS-Cart P 0 <p>Toshiba SD3300 DVD Player's narrower width gives this unit a smaller footprint and will help to conserve entertainment center shelf space.</p>