There's no stage, it's just a bar lounge area where the women hang out, and you can chat with them, and then semi-private dance areas. There's a VIP somewhere, I believe, but haven't gone.
There's usually a couple dozen women, some very attractive, and none were unattractive. The look does generally lean more girl next door.
The amount of touching does seem to vary a bit based on dancer's preferences, some are very ok with lots, and some not so much. Security is present but relatively non-intrusive.