<prompt> Translate the following text to EnglishMabadiliko ya kujadiliwa, na gharama na faida za mbadala uliochaguliwa; na maelezo ya jinsi mashirika yamekuwa na kufuata mahitaji mbalimbali ya sheria kwa mfano,  <response>: the alternatives considered, and the costs and benefits of the alternative selected; and descriptions of how the agencies have complied with various rulemaking requirements e.g. 