How should you rest between sets? It looks like the best advice is - ACTIVELY!
Staying mildly active (light jogging, jump rope, cycling) between sets of intense exercise will increase your max output during the work phase. With a workout like today's, higher intensity = higher gains and benefits.
It was discovered recently that cyclists who pedaled at 30% of max intensity during the rest phase of interval training sessions cleared lactate faster than those who didn't. Their max power output was much higher as a result.
Keep in mind that, many times, a 2 min rest during a good workout can degrade quickly (talking, lack of focus) into a 45 minute runaway slack job if you are not careful. Stay on the clock today. And try being more active between sets. Record your findings.