SELECT 
  cscart_seo_names.object_id AS product_id, 
  cscart_seo_names.name AS seo_name, 
  cscart_seo_names.path AS seo_path 
FROM 
  cscart_seo_names 
WHERE 
  cscart_seo_names.object_id IN (
    10420, 10419, 10418, 10417, 12856, 10416, 
    10415, 10414, 12855, 12854, 12853, 
    10412, 10411, 10410, 10409, 10408, 
    10407, 10406, 15781, 10405, 10404, 
    10403, 10402, 10401, 10400, 10399, 
    10398, 10397, 10395, 10394, 10393, 
    10392
  ) 
  AND cscart_seo_names.type = "p" 
  AND cscart_seo_names.dispatch = "" 
  AND cscart_seo_names.lang_code = 'ru' 
  AND (
    cscart_seo_names.company_id = 1 
    OR cscart_seo_names.company_id = 0
  )

Query time 0.00170

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_seo_names",
      "access_type": "range",
      "possible_keys": ["PRIMARY", "dispatch"],
      "key": "PRIMARY",
      "key_length": "210",
      "used_key_parts": [
        "object_id",
        "type",
        "dispatch",
        "lang_code",
        "company_id"
      ],
      "rows": 64,
      "filtered": 100,
      "index_condition": "cscart_seo_names.object_id in (10420,10419,10418,10417,12856,10416,10415,10414,12855,12854,12853,10412,10411,10410,10409,10408,10407,10406,15781,10405,10404,10403,10402,10401,10400,10399,10398,10397,10395,10394,10393,10392) and cscart_seo_names.`type` = 'p' and cscart_seo_names.dispatch = '' and cscart_seo_names.lang_code = 'ru' and (cscart_seo_names.company_id = 1 or cscart_seo_names.company_id = 0)"
    }
  }
}