WP - Taxonomy/Category List, with associated Posts

<?php
get_header();
$term = get_term_by('slug', get_query_var('term' ), get_query_var('taxonomy'));
?>
<div id="info-cnt">
  <div id="info-lg" class="info-style <?= $p; ?>">
    <!-- Download PDF -->
    <div id="bx-pdf"> <img src="<?php bloginfo('template_url'); ?>/images/icon-pdf.gif" alt="PDF Document" width="20" height="20">
      <p><a href="<?php bloginfo('home'); ?>/pdf/menu-<?= $term->slug;?>.pdf" title="Download PDF" target="_blank">Download PDF</a></p>
    </div>
    <h1><?= $term->name; ?></h1>
<?php

// get all the categories from the database
$args = array(
                 'type'     => 'menu-items',
                 'parent'   => $term->term_id,
                 'taxonomy' => 'menu-cat',
            );
$cats = get_categories($args);
?>
<div class="menu">
        <?php   if(is_tax('menu-cat') && isset($is_mobile)): ?>
                        <a href="<?php bloginfo('url'); ?>/menus/" id="mobile-menu" class="btn">MENUS</a>
    <?php else: ?>
                        <a href="<?php bloginfo('url'); ?>/menus/" class="btn desktop-menu">BACK TO MENUS</a>
        <?php endif; ?>
<p>Kitchen Open Until 1AM Daily</p>
<hr>
<?php

// loop through the categries
foreach ($cats as $cat) :
    // setup the cateogory ID
    $cat_id = $cat->term_id;
    // Make a header for the cateogry
    echo "<h2>".$cat->name."</h2>";

        $termDescription = term_description( $cat->term_id, get_query_var( 'taxonomy' ) );

        echo ($termDescription ? "<div class='tag-desc'>$termDescription</div>" : "");

    // create a custom wordpress query
    //query_posts("cat=$cat_id&post_per_page=100");
    $arg = array(
        'post_type' => 'menu-items',
        'tax_query' => array(
            array(
                'taxonomy' => 'menu-cat',
                'field' => 'id',
                'terms' => array($cat_id)
            )
         ),
         'orderby' => 'menu_order',
         'order' => 'asc'

    );
    $items = new WP_Query($arg);
    // start the wordpress loop
    while ($items->have_posts()) : $items->the_post(); ?>
            <?php idea_menu(); ?>
      <?php
    endwhile;
endforeach; ?>
    </div>
  </div>
</div>
<?php get_footer(); ?>