Stacey, since none of us were there to see (and likely smell) the state these animals were kept in, in the end it's going to be your gut instinct that gives you the right answer. If your gut says those animals were being improperly or even inhumanely kept then you likely want to let someone know. If they are "licensed" then notify that licensing agency (Fish & Game or whatever). Let your local animal protection agency know about your concerns.

Considering these folks do educational shows, if they are bringing animals that live in their own feces and moldy caging to shows, and allowing child to touch these animals, then a health concern to humans could also be present.