Here's the steps that I take to import a model built in SketchUp into Rhino.
I'm currently using Rhino5 and Grasshopper for making parametric designs for plywood furniture. The goal is to have the plywood cut by a CNC router. The software I've been using to create the g-code for the router is VCarve. Here's the process I've been using to get the 3D model from Rhino to a format that can be used within VCarve.