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I need to perform custom action from my server when all slots are filled for a specific intent. and once the action is performed I want to reset the rasa state. is there a way to do it from endpoint, which can be called from my server after performing custom action.

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You can use forms for filling a set list of required slots. And to reset all the slots, I would actually suggest returning that event from the custom action directly, by doing a return [AllSlotsReset()] from your actions run method.

You can also add events to the tracker through an API call via the tracker events endpoint. But if it's dependent on a custom action being executed, then the simplest way is the way I described above.