How did Jesus steal the car keys?

In S6E10 of The Walking Dead, Rick and Daryl go out on a supply run. They come across a box truck full of supplies in the back.

While using the truck to flip over a vending machine, a man comes from behind a building and surprises Rick and Daryl. Both of our heroes pull their guns on the man and interrogate him: he reveals himself as being named something unmemorable but having the nickname "Jesus."

Rick and Daryl disagree about how to handle this man, but end up telling him to hit the road.

Somehow, Jesus steals Rick's keys to the truck (but not the car they were previously driving), and drives off in it: Daryl asks Rick about the keys, and Rick grabs at his midsection and swears as though they were missing. I do not recall Jesus ever being within "grabbing" distance of Rick or Daryl, nor him being anywhere near either door of the box truck.

How did Jesus steal the keys to the box truck?

Notes:

1. Jesus appears to perform several other impossible stunts in the show, such as untying himself and catching up to a speeding vehicle, or breaking out of a makeshift prison cell and sneaking up on Richonne. While supporting evidence may leverage details from these other stunts, my question is not about these acts.

2. Given that this episode aired tonight, a spoiler warning may be desirable: however, the events in question occurred very early in the episode and reveal no plot surprises.