SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    13929, 15259, 15257, 15258, 15262, 13928, 
    15256, 15264, 15263, 15260, 15261, 
    15255, 13930
  )

Query time 0.00055

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "3.47"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 14,
      "rows_produced_per_join": 14,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "2.08",
        "eval_cost": "1.40",
        "prefix_cost": "3.48",
        "data_read_per_join": "36K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (13929,15259,15257,15258,15262,13928,15256,15264,15263,15260,15261,15255,13930))"
    }
  }
}