Yes. You are in no more danger traveling in Brasil than you are going to literally any major city in the US, we just don't recommend driving to/in Rio de Janeiro, and keeping very expensive items of jewelry and whatnot at home so as to not attract too much attention, especially if you're traveling around without a local.
We will be blocking out rooms at the Ibis Style Hotel (it's the nearest one to the venue). The blocking has not been done yet, but you can find it on booking here: https://www.booking.com/hotel/br/ibis-styles-taubate.html