About the tetrahedra problem, I have found this reference/proof that they cannot be used to fill 3D space (since the proven upper bound is smaller than $100 \cdot (1-2.7 \cdot 10^{-25})\%$: https://en.wikipedia.org/wiki/Tetrahedron_packing ), and here is another interesting resume on the same topic (dated 2010): https://www.nytimes.com/2010/01/05/science/05tetr.html\
About a solid lower bound, we have Chen's valuable paper entitled "A Picturebook of Tetrahedral Packings": https://www.semanticscholar.org/paper/A-Picturebook-of-Tetrahedral-Packings.-Chen/d20f70381ee445a60222e402ee39a0c32c07f804
Now, let us answer to the square pyramid packing problem: I have to say that my first thought has been that we couldn't use square pyramids to fill the gap... and it seems that I was right from the beginning, since here is a very interesting result by A. Bezdek $\&$ W. Kuperberg (see p. $10$ of DENSE PACKING OF SPACE WITH VARIOUS CONVEX SOLID, whereas a lower bound is shown in Figure 6, ibid.): https://arxiv.org/pdf/1008.2398.pdf
Finally, let me show a trivial composition that I have just made in a rush (many thanks to GeoGebra) to show how square pyramids and tetrahedra would fit very well if combibed togheter: $\&$ Tetrahedra togheter" />