SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_cp_blog_categories 
WHERE 
  parent_id IN(4, 6, 7, 8, 9, 10)

Query time 0.00030

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_cp_blog_categories",
      "access_type": "ALL",
      "rows": 7,
      "filtered": 100,
      "attached_condition": "cscart_cp_blog_categories.parent_id in (4,6,7,8,9,10)"
    }
  }
}