Depending on the nature of the experiment, yes. Strictly speaking you don't need any physical bodies to be present in order to model and calculate relativistic effects, just sets of coordinates. For example, SR says that the distance between two specified points fixed in one reference frame will be shorter when transformed to become the distance between the corresponding points in another reference frame in which they are moving. If you wished, the vertices of your tetrahedron could simply be four sets of coordinates with nothing physically present.
Of course, having rockets can make it easier to visualise.