SELECT 
  product_id, 
  group_id 
FROM 
  cscart_product_variation_group_products 
WHERE 
  group_id IN (16, 18, 19)

Query time 0.00022

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "14.39"
    },
    "table": {
      "table_name": "cscart_product_variation_group_products",
      "access_type": "index",
      "possible_keys": [
        "idx_group_id"
      ],
      "key": "PRIMARY",
      "used_key_parts": [
        "product_id",
        "group_id"
      ],
      "key_length": "6",
      "rows_examined_per_scan": 61,
      "rows_produced_per_join": 21,
      "filtered": "36.07",
      "using_index": true,
      "cost_info": {
        "read_cost": "9.99",
        "eval_cost": "4.40",
        "prefix_cost": "14.39",
        "data_read_per_join": "351"
      },
      "used_columns": [
        "product_id",
        "group_id"
      ],
      "attached_condition": "(`pankajecarter_systemfour`.`cscart_product_variation_group_products`.`group_id` in (16,18,19))"
    }
  }
}