I would go so far as to suggest that if she can take care of herself, grandma should self quarantine as much as possible for the duration of the crisis. People do not become less dangerous just because they are relatives.
After the family spent 2 weeks in self quarantine, visiting grandma is probably fine.
Many grandparents in the US live nearby and see their grandkids often and often look after them with some regularity. That seems to be the sort of scenario where they'd be employed to watch them while they are in learning from home situations, no? I don't think we are talking about frail people in nursing homes.
Specifically, younger people are sometimes being told to avoid older people, sometimes when the older person is in need.
IIRC, some place had bans/restrictions on visiting nursing homes because the potential for spreading the virus might end up exposing a large percentage of the occupants to a significant chance of death.
No citation because I cannot remember where I read it.
You can be a grandparent of young kids very easily in your late 50s.