I work sitting down, typing. I try to keep my wrists straight and and back straight in accordance with our ergonomics. My wrists are constantly hurting. I can pop them by rotating my hands counter clockwise (mainly right hand) without any other pressure,

Stop doing what you're doing. Get away from the computer and typing. Give your wrist a rest. Once and they are healed and it a long time. Then you can start back with the limited motion. Stop if you feel pain. This will help you figure out what not to do or what you're doing that is causing the problem.