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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 (10431, 10039, 10420, 10462, 10460) 
  AND cscart_seo_names.type = "p" 
  AND cscart_seo_names.dispatch = "" 
  AND cscart_seo_names.lang_code = 'en' 
  AND (
    cscart_seo_names.company_id = 1 
    OR cscart_seo_names.company_id = 0
  )

Query time 0.00037

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_seo_names	range	PRIMARY,dispatch	PRIMARY	210		10	Using index condition; Using where

Result

product_id	seo_name	seo_path
10039	grenada-mocca-corner	501/502/853
10420	california-mocca-corner	501/502/853
10431	mexicana-graphite-corner	501/502/853
10460	country-680-corner	501/502/853
10462	grenada-rosa-corner	501/502/853