Generation of a long process of a CNS neuron, that carries efferent (outgoing) action potentials from the cell body in the dorsal root ganglion towards target cells in the medulla. This axonal process is a member of those that make up the gracilis tract, a group of axons that are from neurons involved in proprioception from the lower trunk and lower limb. [ GOC:cls http://purl.obolibrary.org/obo/go/references/0000021 GOC:dgh GOC:dph http://www.ncbi.nlm.nih.gov/pubmed/12867698 GOC:jid ]