SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(167, 175, 174, 234, 177, 196, 254)

Query time 0.00035

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "20.08"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "parent"
      ],
      "rows_examined_per_scan": 83,
      "rows_produced_per_join": 33,
      "filtered": "39.76",
      "cost_info": {
        "read_cost": "13.48",
        "eval_cost": "6.60",
        "prefix_cost": "20.08",
        "data_read_per_join": "85K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`atulecarter_atul_demo5`.`cscart_categories`.`parent_id` in (167,175,174,234,177,196,254))"
    }
  }
}