From the part browser, several predefined configurations are available ; and one of them is named 'Tetra 5mm'.

But, during your first tries, you might encounter an annoying behavior and get this kind of error message:

To make it work, the PDM MeshFlag attribute of your part should be set to SMT (Solid Mesh Tetra) or SMH (Solid Mesh Hexa). This way, the BatchMesher is allowed to generate tetramesh on the part geometry and assign it a solid property.