  Using Monte Carlo techniques, we study a three-orbital CuO$_2$ spin-fermion
model for copper-based high critical temperature superconductors that captures
the charge-transfer properties of these compounds. Our studies reveal the
presence of spin order in the parent compound and, more importantly, stripe
spin and charge order under hole doping. Due to the $p$-$d$ orbital hybridizati
on, the added holes are approximately equally distributed among the two $p$
orbitals of the oxygen atoms and the $d$ orbital of the copper atoms in the
unit cell. In rectangular clusters of dimension $16\times 4$ %that break the
$\pi/2$ lattice rotational symmetry, {\it half-filled} stripes are observed
upon hole doping, namely when $N_h=2n$ holes are introduced in the system then
$n$ stripes of length 4 are formed along the short direction. The original
antiferromagnetic order observed in the parent compound develops a $\pi-$shift
across each stripe and the magnetic structure factor has a peak at wavevector
${\bf k}=(\pi-\delta,\pi)$ with $\delta=2\pi N_h/N=\pi N_h/2L$, where $L=16$.
The electronic charge is also modulated and the charge structure factor is
maximized at ${\bf k}=(2\delta,0)$. As electrons are removed from the system,
intracell orbital nematicity with $\langle n_{p_x}\rangle-\langle
n_{p_y}\rangle\ne 0$ dev elops in the oxygen sector, as well as intercell
magnetic nematicity with $\langle S^z_{{\bf i},d}(S^z_{{\bf i}+{\bf
x},d}-S^z_{{\bf i}+{\ bf y},d})\rangle\ne 0$ in the spin copper sector, in the
standard notation. This occurs not only in rectangular but also in square
8$\times$8 lattices. Overall, our results suggest that the essence of the
stripe spin and charge distribution experimentally observed in hole-doped
cuprates are captured by unbiased Monte Carlo studies of a simple hole-doped
charge-transfer insulator CuO$_2$ spin-fermion model.
