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

Query time 0.00027

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "range",
          "possible_keys": ["parent"],
          "key": "parent",
          "key_length": "3",
          "used_key_parts": ["parent_id"],
          "rows": 20,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (167,175,174,234,177,196,254)"
        }
      }
    ]
  }
}