SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(34, 43, 60, 160, 95, 113)

Query time 0.00064

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": ["parent"],
      "rows": 142,
      "filtered": 45.07042313,
      "attached_condition": "cscart_categories.parent_id in (34,43,60,160,95,113)"
    }
  }
}

Result

category_id parent_id
53 43
51 43
52 43
35 34
36 34
37 34
38 34
39 34
40 34
41 34
42 34
44 43
45 43
46 43
47 43
48 43
49 43
50 43
54 43
55 43
56 43
57 43
58 43
59 43
114 113
115 113
116 113
117 113
118 113
136 60
137 60
138 60
139 60
140 60
141 60
142 60
143 60
144 60
145 60
146 95
147 95
148 95
149 95
150 95
151 95
152 95
153 95
158 60
161 160
162 160
163 160
164 160
165 160
166 160
167 160
168 160
169 160
170 160
171 160
172 160
173 160
174 160
175 160