SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    21994, 21995, 21992, 21991, 21990, 21993
  )

Query time 0.00052

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "2.04"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 7,
      "rows_produced_per_join": 7,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "1.34",
        "eval_cost": "0.70",
        "prefix_cost": "2.04",
        "data_read_per_join": "18K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (21994,21995,21992,21991,21990,21993))"
    }
  }
}