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 (10210, 9853, 9843, 8862, 9850) 
  AND cscart_seo_names.type = "p" 
  AND cscart_seo_names.dispatch = "" 
  AND cscart_seo_names.lang_code = 'fr' 
  AND (
    cscart_seo_names.company_id = 3 
    OR cscart_seo_names.company_id = 0
  )

Query time 0.00091

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
8862 fenetre-de-toit-velux-gll-1061 737/966
9843 velux-store-occultant-dkl 737/902/1001
9850 velux-store-plisse-fhl 737/902/1009
9853 velux-awning-blind-mhl-fr 737/902/1005
10210 fenetre-de-toit-velux-gpl-3068-finition-bois-massif 737/970