SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    276, 6729, 6730, 6731, 74, 127, 73, 72, 
    75, 88, 90, 91, 6654, 6743, 126, 182, 
    6727, 8954
  )

Query time 0.00078

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "8.85"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 41,
      "rows_produced_per_join": 41,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "4.75",
        "eval_cost": "4.10",
        "prefix_cost": "8.85",
        "data_read_per_join": "107K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (276,6729,6730,6731,74,127,73,72,75,88,90,91,6654,6743,126,182,6727,8954))"
    }
  }
}