Below is an example of steps taken to manually fulfill orders that have failed:

Open the wave:
Navigate to pick tasks subtab, and open all pick tasks: 

Click fulfill on Sales Order
For each Item on the Fulfillment, you'll need to copy over the Inventory Detail (box with blue arrow icon) from the pick tasks into each line item: 

Fulfillment: 

Pick Task:

When all 4 are complete, you can set the Item Fulfillment Status to Shipped, and Save