Why did the ATF/FBI raid on the Koresh compound in Waco fail?

The goal of the raid was to enter the compound, arrest David Koresh and his top lieutenants on suspicion of child abuse and weapons violations, search the compound, and take the children into state custody. The actual outcome of the raid was a failed entry that left four agents and five cult members dead, then... show more The goal of the raid was to enter the compound, arrest David Koresh and his top lieutenants on suspicion of child abuse and weapons violations, search the compound, and take the children into state custody.

The actual outcome of the raid was a failed entry that left four agents and five cult members dead, then a long siege, then a fire that killed 76 people, including 22 children. Several of the children were babies under 1 year of age.

Any way you look at it, the mission was badly botched. But why? How, exactly, did the ATF/FBI agents who planned the raid end up failing? What tactics should they have used instead?
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