CRS value of the 4 cities in nuScenes

Hello,

I am trying to load the nuScenes dataset into python.
I plan to use MovingPandas(https://movingpandas.readthedocs.io/en/master/trajectorycollection.html) to store the trajectories information.
Does anyone know how to get the CRS information of the 4 cities in nuScenes?

Thank you.