Is the dragon robe the emperor usually wears bright yellow?

No, in fact, as early as the Tang Dynasty, yellow was the color worn by most civilians. The Ming dynasty emperors's clothes are not bright yellow, but ochre yellow (with much lower lightness). Bright yellow was mostly used in the Qing dynasty, but not the emperors of the Qing dynasty always wore yellow. On the contrary, he wears a little more navy blue (cyan) and brown (sauce color) robes every day.