No. See the prerequisites for each course.
For the developer and architecture classes that use Anypoint Studio, though, we find that students with a good amount of Java (or other object-oriented programming) experience ramp up faster. For developers whose background is not in Java, it is helpful to gain familiarity with core Java concepts prior to attending MuleSoft developer training.
Here are some resources that might be helpful for acquiring some quick Java fundamentals knowledge:
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Basic self-paced Java tutorial at lynda.com
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A comparison of C# and Java at the Microsoft Developer Network
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Eclipse (IDE) and Java tutorials at SourceForge
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New-to-Java training and resources page at Oracle Technology Network