SELECT 
  object_id 
FROM 
  cscart_cp_object_ugroups_rest 
WHERE 
  object_type = 't' 
  AND usergroup_id IN (0, 1) 
  AND company_id = 0

Query time 0.00029

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "message": "Impossible WHERE noticed after reading const tables"
    }
  }
}