SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    291, 311, 301, 286, 280, 320, 295, 54, 
    296, 281, 308, 321, 292, 302, 287, 57, 
    288, 297, 282, 322, 303, 293, 313, 309, 
    310, 298, 323, 294, 289, 304, 58, 299, 
    55, 53, 305, 324, 56, 300, 306, 316, 59, 
    317, 318, 77, 128, 319
  )

Query time 0.00090

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "23.29"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 113,
      "rows_produced_per_join": 113,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "11.99",
        "eval_cost": "11.30",
        "prefix_cost": "23.29",
        "data_read_per_join": "295K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (291,311,301,286,280,320,295,54,296,281,308,321,292,302,287,57,288,297,282,322,303,293,313,309,310,298,323,294,289,304,58,299,55,53,305,324,56,300,306,316,59,317,318,77,128,319))"
    }
  }
}