I do it right.

Rest your hands in your lap when you're not typing. That will make it easier to type correctly as your shoulders won't be as tired.

I usually rest my underarms on the table for "casual" situations (such as now). My wrists don't end up with an angle like in the figure; that'd be horribly uncomfortable. I feel that I can rest my arms/wrists and keep the wrists straight at the same time. Whenever I pick up speed, my arms are lifted to that "right" position because I've seen figures like that one a lot of times and try to do it right.

I've heard that inconsistency makes your speed slower. Not sure what to believe - I'm not very fast but that's probably for other reasons.  ;)

I do not get tired from long bouts, although I do not often type for long stretches at a time as I am a programmer, not an author.

It is believed that you can go faster if you maintain a neutral position [citation needed]. I don't know whether that's true; what I do think is veracious is that consistency is advantageous so it makes sense to do it right all the time. I am a medium pace typer (75 wpm max) so I don't know if it holds true for lesser or higher speeds.

I do it right althought not exactly as depicted above. Long time ago I was trained ergonomy at work - not much helpful until I learned touch typing. But I know that it is better not to press your palm on the keyboard when typing. The wrist angle IMHO does not matter as long as you are not bending at some extreme angle, keeping no contact with keyboard matters. I also do not type in long runs because I am software developer and I found MS4000 very suitable because there from proper typing position to resting position is a very slim transition (the wrist pad is lifted up).

I rest my hands, but I have a laptop so my hands stay level. I rest my hand with a mouse though, and that gets hurty.

I rest the butt of my palm on my desk when typing (it's somewhat similar to those keyboard rests, except it's thin and made of wood), and rest my hands in my lap when I won't be typing for a while.  A big part of the point of "floating" the hands, I think, is to prevent prolonged compression of some major nerve (which can cause carpal tunnel syndrome).  Back when I did data entry, where I had to type continuously for hours at a stretch, I would arrange my workstation so that I could rest both my forearms completely on the desk.  It was a bit of a compromise--I didn't have to have constant tension in my arms from "floating" my hands, but at the same time I was able to spread the compression across my entire forearms, rather than having it all focused on the butt of my palms.  I would sometimes start getting warning signs (tingling in the hands) if I just rested the butts of my palms on the desk, but never had any problems resting my entire forearms.

('Course, the paranoid dummies in charge sounded like they were going to start disallowing the full-forearm thing, which is about the time I quit that job.  Because, you know, someone's arbitrary guidelines are a more reliable indicator of safety than what I'm feeling in my own damn hands.  Yes, I told them.  No, they didn't care.  Blah.)

I said I rested my forearms on the desk, but actually, they had a bunch of those palm rest things and I'd carry two around for my forearms (and elbows).  The only problem with that was, the palm rests tended to get kinda nasty from everyone's using them 24 hours a day, so could make the skin on my forearms itchy after a few hours of use.  (I know--yuck.)  Anyway, if you got a couple just for yourself, it might help with your elbows.

Incidentally, I've been looking for a desk I could do that with.  I've never been able to find the desks they used where I worked, which had adjustable everything.  Any leads?

Cool; I'll have to keep that in mind when desk shopping.  And I suppose that's a good point about sore elbows meaning one needs to get off the computer for a while.  My wife would definitely approve.

Off the subject, but is your desk always that clean?  I'm jealous.  :)