If your problem is lack of action... I suggest one action: Take a vacation in space
Orbiter - A free space flight simulator
Dream a little bit, learn a lot, do a lot.
If your problem is not action, but loneliness, go meet people.
If you do not feel compelled to feel people but still you feel lonely, you probably need to do some meditation, for it is result of an empty soul that needs to be spiritually filled.
As for social anxiety, have you been in an alien place away from parents before age of 4?
If you get to revive this primordial fear from childhood and cure it as you understand its origin during that stage, you could relate easier with others.
If problem is a very controlling father or mother, I would advise to put some distance and move to an apartment.