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First of all quite good approach for explicitly labeling an object. To start with you can build a simple world and put the tracked object to it. You should note the position of this object. You can create a similar object but with a different texture, add it to another world in the exact same coordinates.

If you are driving a robot, record the motion with rosbag from the first video, and replay it in the second scenario to have the same motion while capturing the marked object.

If you are having multiple objects of interest, you might consider gazebo's set_model_state - get_model_state services, with this services you can change positions of the objects. So you are able to move objects in to the operating zone and out of the operating zone. This way you can manage the objects.

You can write a simple bash script, or you might even record a bag file from the set_model_state and play it over and over again.