Sandbox

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 (17, 20, 13) 
  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 0.00041

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_seo_names	range	PRIMARY,dispatch	PRIMARY	210		6	Using index condition; Using where

Result

product_id	seo_name	seo_path
13	your-idea-inc-12-steps-to-building-a-million-dollar-business-starting-today	219/222
17	101-things-everyone-should-know-about-economics-a-down-and-dirty-guide-to-everything-from-securities-and-derivatives-to-interest-rates-and-hedge-fundsand-what-they-mean-for-you	219/222
20	the-abcs-of-gold-investing-how-to-protect-and-build-your-wealth-with-gold	219/222