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 (
    19675, 13070, 9886, 11019, 19953, 10051, 
    24411, 21851, 10521, 7569, 9972, 10839, 
    21226, 10517, 9479, 22140, 22141, 7571, 
    9154, 10047, 7648, 10676, 10044, 9684
  ) 
  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 0.00166

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 (19675,13070,9886,11019,19953,10051,24411,21851,10521,7569,9972,10839,21226,10517,9479,22140,22141,7571,9154,10047,7648,10676,10044,9684) 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
7569 kist-yre-nail-art-brush-skoshennaya-02 393/552
7571 kist-dlya-risovaniya-kodi-2-chernaya 393/552
7648 kist-dlya-risovaniya-opi-kolinsky-3 393/552
9154 kist-dlya-risovaniya-kodi-e1-chernaya 393/552
9479 kist-roubloff-dlya-risovaniya-kolonok-0-ru 393/552
9684 kist-roubloff-dlya-risovaniya-1-ru 393/552
9886 kist-kolonok-1-2-roubloff 393/552
9972 kist-dvustoronnyaya-s-kristalami-6 393/552
10044 kist-kolonok-2-roubloff 393/552
10047 kist-dlya-risovaniya-opi-kolinsky-1 393/552
10051 kist-layner-dots 393/552
10517 kist-dlya-gradienta-ombre-ru 393/552
10521 kist-s-kristallami-sinyaya-15-mm 393/552
10676 kist-dlya-rospisi-starlet-2-16-mm-ru 393/552
10839 gel-lak-fox-326-12-ml 393/552
11019 kist-s-kristallami-rozovaya-5-mm 393/552
13070 penzlik-dlya-malyuvannya-tonkih-lny-global-3-11-mm 393/552
19675 penzel-saga-dlya-rozpisu-5-layner-11-mm 393/552
19953 penzel-dis-0-syntetic-dlya-malyuvannya 393/552
21226 penzel-dvostoronniy-richcolor-2.2-ombre-4mm-layner-10mm 393/552
21851 penzel-hello-brush-thin-nine-dlya-malyuvannya-9-mm 393/552
22140 penzel-dlya-malyuvannya-art-liner-brush-01-7-mm 393/552
22141 penzel-dlya-malyuvannya-art-liner-brush-02-11-mm 393/552
24411 penzel-easy-liner-dlya-tonkih-liniy 393/552