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 (6, 4, 5, 3, 1, 2) 
  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 0.00074

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "11.90"
    },
    "table": {
      "table_name": "cscart_seo_names",
      "access_type": "ref",
      "possible_keys": [
        "PRIMARY",
        "dispatch"
      ],
      "key": "dispatch",
      "used_key_parts": [
        "dispatch"
      ],
      "key_length": "194",
      "ref": [
        "const"
      ],
      "rows_examined_per_scan": 34,
      "rows_produced_per_join": 0,
      "filtered": "1.96",
      "cost_info": {
        "read_cost": "5.10",
        "eval_cost": "0.13",
        "prefix_cost": "11.90",
        "data_read_per_join": "1K"
      },
      "used_columns": [
        "name",
        "object_id",
        "company_id",
        "type",
        "dispatch",
        "path",
        "lang_code"
      ],
      "attached_condition": "((`db_emaika1`.`cscart_seo_names`.`object_id` in (6,4,5,3,1,2)) and (`db_emaika1`.`cscart_seo_names`.`type` = 'p') and (`db_emaika1`.`cscart_seo_names`.`lang_code` = 'ru') and ((`db_emaika1`.`cscart_seo_names`.`company_id` = 1) or (`db_emaika1`.`cscart_seo_names`.`company_id` = 0)))"
    }
  }
}