Unable to understand the exception error for custom action

Guess your problem is the wrong endpoint in that case. Anyway this is how I start my action server

rasa run actions \
    -vv \ #debug flag, gives lots of output
    -p $actions_port \ # in your case actions_port=3000
    --actions actions \
    > logs/actions.log 2>&1 &

And this is for the CLI

rasa shell \
    --model models/ \
    --endpoints endpoints.yml \
    --log-file logs/botrun.log \
    -vv \ #again debug flag
    -p $rasa_port

And this is endpoints.yml

action_endpoint:
url: http://localhost:$actions_port/webhook
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