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SELECT 
  cscart_cp_object_location_rest.state_id 
FROM 
  cscart_cp_object_location_rest 
  LEFT JOIN cscart_states ON cscart_states.state_id = cscart_cp_object_location_rest.state_id 
WHERE 
  (
    (
      cscart_cp_object_location_rest.object_id = 337 
      AND cscart_cp_object_location_rest.object_type = 'p' 
      AND cscart_cp_object_location_rest.company_id = 1
    ) 
    OR (
      cscart_cp_object_location_rest.object_id IN (217) 
      AND cscart_cp_object_location_rest.object_type = 'c'
    )
  ) 
  AND cscart_states.status = 'A'

Query time 0.00028

JSON explain

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