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1) If it is for loading colonists, the colonists may not be residing in the same sector as the dock. If this is the case, use the Population Management screen to transfer the colonists.
2) You mention the ship is waiting to dock. It is possible that there is another ship in line in front of it, but it cannot unload resources because the dock is full. If this is the case, free up some stockpile space to allow them to unload resources from the cargo bay.
3) You may be missing some resources, so even though the cargo bay has many of the resources loaded, it doesn't have a full trip worth of resources, so the cargo ship is not loading them yet.
I'm sure there are others, but there are usually the main issues.
every time it this happened to me, my space bay was full of ♥♥♥♥ and could not place the required materials for the trip on the bay.
could be the same bug just on a docking bay
Hard to speculate further without more info.
Unassign cargo ship from the docking bay. This removes it from the mission. Move all resources needed, including colonists, into the sector with docking bay. Assign cargo ship back in. Go to mission and select that cargo ship. Watch docking bay load up.
Additional Details: Loading completed shortly after. Note that the dock already had all the resources needed to finish the colonization quest, but still would not load the colonists into the cargo ship that was already waiting to dock (the dock did not have a ship using it at the time, it was vacant). I also tried purging other resources from the dock and freed up around half of the dock's internal storage space, but that didn't seem to work.
A necro, but I think fixes/workarounds to issues encountered in the game should always be posted.