Has anyone been to Picanha Brazilian Grill lately? We're thinking of taking my dad for his birthday (turning 73) and we will have 3 kids (ages 6, 4, & 2) with us along with my 92 year old grandmother. Is it kid friendly and handicapped accessible? What would be the best time to go on the weekend for the freshest food? We are thinking of having an early dinner (1pm). Also, I heard that if you bring limes and some type of liquor (cachaca?) they'll mix some drinks for you?