[clause] + in order to + [verb]
[clause] + in order not to + [verb]
[clause] + so that + [subject] + can/could/will/would + [verb]
Both say what the purpose of an action is: why someone does it. In order to is followed by a verb. So that is followed by a subject and a verb.
In order to means the same as to alone, but it is more formal. In everyday speech, plain to is more common. Use in order to when the subject of both parts is the same person.
For a negative purpose, say in order not to. Plain to can't do this.
So that is followed by a subject and usually can, could, will or would. Use can or will for now and the future, could or would for the past. With so that, the second part can be about a different person.
In speech, people often leave out that: so I could get in.