The pantry is the only area of my house that is clean and organized! It took forever to get it that way though.
I put all dry bulk goods into glass containers. Usually jars from canning or store bought pasta sauce, etc. So rice, beans, lentils, etc. goes into those. They are easy to see and easy to move around. That was the best rhin I did to get it organized.
I also have a hanging canvas shoe holder that I use for loose things like granola bars, bags of popcorn, and for pasta and bags of beans.