I don't think so, those angry parent groups were complaining about it before it even aired and it went on for 15 episodes. It just wasn't pulling in viewers.

I mean if ABC pulled every show that had angry parent groups upset, there'd be nothing on the network.

Muppet productions are expensive - the Muppets themselves cost a lot to make and maintain, not to mention if they need different costumes - and if the show just isn't pulling in ratings it's not worth it to keep it on the air.