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VoxelGI does not take custom shaders into account for emission if the mesh's GI mode is Static.
This may be a limitation, in which case this should be documented.
For reference, it works with LightmapGI (dynamic objects are not included in the bake as expected):
Steps to reproduce
Add MeshInstance3D to act as a floor, with Static global illumination mode.
Add a second MeshInstance3D with an emissive BaseMaterial3D (StandardMaterial3D). Keep its GI mode to the default Static.
Add a third MeshInstance3D (with static GI mode). Assign it a ShaderMaterial whose contents are: