Central to condensed matter physics are quantum impurity models, which describe how a local degree of freedom interacts with a continuum. Surprisingly, these models are often universal in that they can quantitatively describe many outwardly unrelated physical systems. Here we develop a double quantum dot-based experimental realization of the SU(4) Kondo model, which describes the maximally symmetric screening of a local four-fold degeneracy. As demonstrated through transport measurements and detailed numerical renormalization group calculations, our device affords exquisite control over orbital and spin physics. Because the two quantum dots are coupled only capacitively, we can achieve orbital state- or pseudospin-resolved bias spectroscopy, providing intimate access to the interplay of spin and orbital Kondo effects. This cannot be achieved in the few other systems realizing the SU(4) Kondo state.