1996 jeep grand cherokee v8 stalled while driving. no power any where. battery has charge. even all lights do not work

You have a Power or Ground Problem somewhere! Power/Ground not getting connection to the Battery or the Ground isn't getting connection to the body/frame!

Check the main lug on the starter motor. on "most" cars the positive battery cable goes three places. 1)the power distribution box 2) The starter motor & 3) the Altenator. If the cable is loose or it turned green with corrosion there's your problem. Your ground cable is also suspect. Sometimes there are a bunch of ground wires that come together at a bolt on the bell housing. Also there can be a ground "strap" from the engine to the frame. one last note has any work been done to the jeep recently ? I had a customer who had a ground wire to the exhaust manifold by mistake. As the exhaust pipe heated up the resistance changed and it reeked havoc on the electrical system. once it cooled down everything fine. If I was a betting man, I'd give those cables a good look. Do an electrical load test on the battery too