Since the Warp Theme Framework does not yet offer the ablity to change the logo from the template admin panel, we'll have to insert one the old-fashioned way; by creating a custom html module. Don't worry it will be easy.
Go to Extensions > Module Manager > New > Custom HTML. Then upload/insert your image and put the module in the logo position (or you can try a different position, such as the toolbar-r position).
Since the template is responsive, you will want to add the class size-auto to the image so that it resizes with the rest of the template. You can do so by clicking the source code icon in your text editor and adding the class like this for example:
<img src="/images/yourlogo.png" class="size-auto" />