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 (
    21691, 21692, 21693, 21694, 21695, 21696, 
    21697, 21698, 21699, 21700, 21701, 
    21702, 21703, 21704, 21705, 21706, 
    21707, 21708, 21709, 21710, 21711, 
    21712, 21713, 21714
  ) 
  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 0.00112

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "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": 48,
          "filtered": 100,
          "index_condition": "cscart_seo_names.object_id in (21691,21692,21693,21694,21695,21696,21697,21698,21699,21700,21701,21702,21703,21704,21705,21706,21707,21708,21709,21710,21711,21712,21713,21714) 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)"
        }
      }
    ]
  }
}

Result

product_id seo_name seo_path
21691 gel-lak-dlya-nigtiv-dnka-color-038-12-ml 387/939
21692 gel-lak-dlya-nigtiv-dnka-color-039-12-ml 387/939
21693 gel-lak-dlya-nigtiv-dnka-color-040-12-ml 387/939
21694 gel-lak-dlya-nigtiv-dnka-color-041-12-ml 387/939
21695 gel-lak-dlya-nigtiv-dnka-color-042-12-ml 387/939
21696 gel-lak-dlya-nigtiv-dnka-color-043-12-ml 387/939
21697 gel-lak-dlya-nigtiv-dnka-color-044-12-ml 387/939
21698 gel-lak-dlya-nigtiv-dnka-color-046-12-ml 387/939
21699 gel-lak-dlya-nigtiv-dnka-color-047-12-ml 387/939
21700 gel-lak-dlya-nigtiv-dnka-color-048-12-ml 387/939
21701 gel-lak-dlya-nigtiv-dnka-color-049-12-ml 387/939
21702 gel-lak-dlya-nigtiv-dnka-color-050-12-ml 387/939
21703 gel-lak-dlya-nigtiv-dnka-color-051-12-ml 387/939
21704 gel-lak-dlya-nigtiv-dnka-color-052-12-ml 387/939
21705 gel-lak-dlya-nigtiv-dnka-color-053-12-ml 387/939
21706 gel-lak-dlya-nigtiv-dnka-color-054-12-ml 387/939
21707 gel-lak-dlya-nigtiv-dnka-color-055-12-ml 387/939
21708 gel-lak-dlya-nigtiv-dnka-color-056-12-ml 387/939
21709 gel-lak-dlya-nigtiv-dnka-color-057-12-ml 387/939
21710 gel-lak-dlya-nigtiv-dnka-color-058-12-ml 387/939
21711 gel-lak-dlya-nigtiv-dnka-color-059-12-ml 387/939
21712 gel-lak-dlya-nigtiv-dnka-color-060-12-ml 387/939
21713 gel-lak-dlya-nigtiv-dnka-color-063-12-ml 387/939
21714 gel-lak-dlya-nigtiv-dnka-color-064-12-ml 387/939